OccupancyGridMapping

Simulation for turtlebot exploring and mapping.

Contents

• Introduction
• Running

Introduction

This repository is a simulation for exploring and mapping unknown environment using turtlebot. This project is tested with Ubuntu 18.04 LTS and ROS Melodic. Codes are developed in Python 2.7.

Running

1. Save this package into catkin_ws/src/.

2. Open a new world in Gazebo and start rviz.

roslaunch OccupancyGridMapping test.launch

3. Start exploring.

In a new terminal, run rosrun OccupancyGridMapping test.py.

4. Save the map.

The map generated will be saved in the folder "images" as "map.png" automatically, one of the maps generated is shown below:

but you can still save the map in rviz by running rosrun map_server map_saver, as shown in the figure below: