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

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roslaunchros2 launch neo_mp_400-2 gmapping_basicmapping.launch.py
roslaunchros2 launch neo_mp_500-2 gmapping_basicmapping.launch.py
roslaunchros2 launch neo_mpo_500-2 gmapping_basicmapping.launch.py
roslaunchros2 launch neo_mpo_700-2 gmapping_basicmapping.launch.py

Please choose the correct package name depending on your platform.

If the default mapping parameters are not sufficient you can edit them here: ~/rosros2_workspace/src/neo_mp[...]/configs/navigation/gmapping/gmapping_basicmapping.yamlExample parameters:


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Tip

See https://github.com/

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SteveMacenski/

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Tip

See http://wiki.ros.org/gmapping slam_toolbox for more information regarding gmappingSLAM-Toolboc.

Visualizing the mapping process (Under Construction)

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

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roslaunch neo_mp_400-2 rviz_navigation.launch
roslaunch neo_mp_500-2 rviz_navigation.launch
roslaunch neo_mpo_500-2 rviz_navigation.launch
roslaunch neo_mpo_700-2 rviz_navigation.launch

Please choose the correct package name depending on your platform.

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rosrunros2 run nav2_map_server map_saver_cli -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.

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cp your_map_name.* ~/rosros2_workspace/src/neo_mp[...]/configs/navigation/maps/

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You can adjust the MAP_NAME in ~/ros_settings.shros2_workspace/src/neo_mp[...]/launch/navigation.launch.py, for example:

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export MAP_NAME=your_map_namemap_dir = LaunchConfiguration(
        'map',
        default=os.path.join(
            get_package_share_directory('neo_mpo_700-2'),
            'configs/navigation/maps',
            'YOUR_MAP_NAME'))

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

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