Overview

This example shows that you can build a map thanks to Gmapping.

Start your Mini-Lab topics

• To have access to the Mini-Lab's topics you need run the following commands:

•          $ ssh user@192.168.0.206

  • This command started a ssh communication with the Mini-Lab. You need to replace the IP by your Mini-Lab's IP.

•          $ roslaunch minilab_launch minilab_driver_hokuyo.launch

  • This command started motors drivers and lidar's topic
• If you run the command "$ rostopic list" in a new terminal you should see all the topics published by your Mini-Lab.

Build your map

The following instruction will allow you to build a map and teleop the Mini-Lab from the workstation. The map will be displayed in Rviz:

$ roslaunch minilab_demo_hardware_remote minilab_demo_gmapping.launch

Save your map

When you have finished to build your map you can save the result. To do so you have to run the following instruction:

$ rosrun map_server map_saver -f my_map

Please move the both files just created my_map.pgm and my_map.yaml to this directory: /minilab_model/map/.

Next example

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.