SLAM with Lidar

1. Overview

Robot SDK has integrated Cartographer for SLAM. For details, please refer to here.

Terminal 1: Run Micro-XRCE-DDS Agent for OpenCR

cd ~/turtlebot3 && MicroXRCEAgent serial /dev/ttyACM0

Terminal 2: Run Micro-XRCE-DDS Agent for Lidar

cd ~/turtlebot3 && MicroXRCEAgent udp 2018

Terminal 3: Run Lidar application

~/turtlebot3/turtlebot3_lidar

Terminal 4: Launch robot turtlebot3_node

source /opt/robot_sdk/robot_sdk_setup.bash
export TURTLEBOT3_MODEL=waffle
ros2 launch turtlebot3_bringup robot.launch.py

Terminal 5: Run teleoperation node

source /opt/robot_sdk/robot_sdk_setup.bash
export TURTLEBOT3_MODEL=waffle
ros2 run turtlebot3_teleop teleop_keyboard

Terminal 6: Run cartographer

source /opt/robot_sdk/robot_sdk_setup.bash
export TURTLEBOT3_MODEL=waffle
ros2 launch turtlebot3_cartographer cartographer.launch.py

Terminal 7: Save the map

source /opt/robot_sdk/robot_sdk_setup.bash
export TURTLEBOT3_MODEL=waffle
ros2 run nav2_map_server map_saver -f ~/map