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Before starting the mapping procedure make sure that the basic ROS nodes (as defined in bringup.launch) are running. By default this is the case.

If not, see Getting Started for more information.

Starting the mapping procedure

To start the mapping procedure you can use the "gmapping_basic" launch file as follows:

roslaunch neo_mp_400 gmapping_basic.launch
roslaunch neo_mp_500 gmapping_basic.launch
roslaunch neo_mpo_500 gmapping_basic.launch
roslaunch neo_mpo_700 gmapping_basic.launch

Please choose the correct package name depending on your platform.

If the default mapping parameters are not sufficient you can edit them here: ~/ros_workspace/src/neo_mp[...]/configs/navigation/gmapping/gmapping_basic.yaml

Example parameters:

See for more information regarding gmapping.

Visualizing the mapping process

You can visualize the mapping procedure in real-time using Rviz as follows:

roslaunch neo_mp_400 rviz_navigation.launch
roslaunch neo_mp_500 rviz_navigation.launch
roslaunch neo_mpo_500 rviz_navigation.launch
roslaunch neo_mpo_700 rviz_navigation.launch

Please choose the correct package name depending on your platform.

Visualization is best done on a Client PC, see Getting Started for how to setup the connection.

Mapping your environment

Once the mapping procedure has been started you can drive around your environment to create a map for it.

Try to avoid making fast movements or triggering the scanner stop.

Saving the map

Once you are finished mapping the environment you can save the map as follows:

rosrun map_server map_saver -f your_map_name

This will create two files, a "your_map_name.pgm" file and a "your_map_name.yaml" file. Both files are necessary and they should always be in the same directory.

Installing the map

In order to use the map for navigation later on it is necessary to copy it to the "maps" folder:

cp your_map_name.* ~/ros_workspace/src/neo_mp[...]/configs/navigation/maps/

If the "maps" folder does not exist you can just create it first.

Selecting the map for navigation

The map being used for navigation is specified with an environment variable called MAP_NAME.

You can adjust the MAP_NAME in ~/, for example:

export MAP_NAME=your_map_name

Note that the map name does not include any file extension.

Next steps

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