Simulation for turtlebot exploring and mapping.
Contents
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.
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Save this package into catkin_ws/src/.
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Open a new world in Gazebo and start rviz.
roslaunch OccupancyGridMapping test.launch
- Start exploring.
In a new terminal, run rosrun OccupancyGridMapping test.py.
- 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:
