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Overview

This tutorial shows how to launch the gmapping simulation in the workstation in order to build a real-time map

All examples are independent. Please be aware that your previous demonstration has to be stopped before starting a new one

Build your map with Gmapping

To launch the Gmapping simulation type the following instruction in a new terminal:

$ roslaunch minilab_demo_simulation minilab_demo_gmapping.launch

Gazebo and RViz will be opened both in another window. The real time map will be built and displayed in RViz while moving the robot with keyboard keys.

Figure 1 : Your Mini-Lab simulated in Gazebo

http://www.enovarobotics.eu/Wiki/images/5/5d/Gazebo-gmapping.png

Figure 2 : Map built by Gmapping displayed in Rviz

http://www.enovarobotics.eu/Wiki/images/8/8c/Rviz-gmapping.png

IMPORTANT :

CTRL+C in your terminal to stop this example.

All demonstrations are independent, you have to stop this demonstration before starting a new one.


2020-08-08 12:18