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Note: This tutorial assumes that you have completed the previous tutorials: cob_tutorials/Tutorials/Startup simulation.
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Using slam navigation (navigation with a online generated map)

Description: This tutorial shows you how to move the mobile base avoiding collisions and building up a map while moving the robot.

Tutorial Level: BEGINNER

Next Tutorial: cob_tutorials/Tutorials/Navigation (global)

Prerequisit

Startup simulation with robot.

SLAM navigation

Start cob_navigation_slam navigation

roslaunch cob_navigation_slam 2dnav_ros_dwa.launch robot:=cob4-3

Start rviz visualisation

roslaunch cob_navigation_slam rviz.launch

cob_tutorials/Tutorials/RvizSlam1.png

roslaunch cob_teleop teleop_keyboard.launch

cob_tutorials/Tutorials/RvizSlam2.png

Save map

As soon as you have a map build up from the environment, you can save it with

rosrun map_server map_saver

This will save a bitmap file map.pgm and a file with meta data about the map map.yaml to your current directory. We will need this map in the next tutorial.


2019-08-17 12:37