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SLAM with Evarobot in Gazebo

Description: Generating a map using gmapping and hector_slam in Gazebo.

Tutorial Level: BEGINNER

Next Tutorial: Navigation of the Evarobot in Gazebo

Map Building using hector_slam ROS Package

Clone hector_slam and evarobot_simulator, and build it.

> cd ~/catkin_ws/src
> git clone https://github.com/tu-darmstadt-ros-pkg/hector_slam
> git clone https://github.com/inomuh/evarobot_simulator.git
> cd ~/catkin_ws
> catkin_make

Run Evarobot Gazebo model with a map which is UPlat.sdf for this tutorial

> roslaunch evarobot_gazebo evarobot.launch world_path:=$(rospack find evarobot_gazebo)/worlds/UPlat.sdf

In order to start SLAM with Evarobot in Gazebo, it is enough to run gazebo_slam.launch file.

> roslaunch evarobot_slam gazebo_slam.launch

Use teleop_twist_keyboard package to move the Evarobot with keyboard.

> rosrun teleop_twist_keyboard teleop_twist_keyboard.py

To visualize,

> roslaunch evarobot_viz view_evarobot.launch

Save your new map to disk using map_saver from the map_server package:

> rosrun map_server map_saver -f $(rospack find evarobot_slam)/gazebo_map/map

Video Tutorial


2019-04-20 12:24