[DEPRECATED] Updated Version here.
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.