6.1 Launch SLAM app

On the robot’s computer, open 2 new terminal windows.

Run bringup.launch:

roslaunch linorobot bringup.launch

Run slam.launch:

roslaunch linorobot slam.launch

6.2 Drive around and map

On your development computer, open 2 new terminal windows:

Run teleop_twist_keyboard:

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

Run rviz:

rosrun rviz rviz

Once rviz is open, import slam.rviz by clicking File > Config and choose ~/catkin_ws/src/lino_visualize/rviz/slam.rviz. 

Using teleop_twist_keyboard, drive the robot around the area you want to map.

6.3 Saving the map

Once you are done mapping save the map by running map_server on the robot’s computer:

rosrun map_server map_saver -f ~/catkin_ws/src/linorobot/maps/map

Check if map.pgm and map.yaml has been saved:

cd ~/catkin_ws/src/linorobot/maps
ls -a map.pgm map.yaml

7. Autonomous Navigation

At this point, your robot is ready to navigate autonomously. Please proceed to autonomous navigation page.