O'Reilly logo

Learning ROS for Robotics Programming by Enrique Fernández, Aaron Martinez

Stay ahead with the world's most comprehensive technology and business learning platform.

With Safari, you learn the way you learn best. Get unlimited access to videos, live online training, learning paths, books, tutorials, and more.

Start Free Trial

No credit card required

Creating a map with ROS

Getting a map can sometimes be a complicated task if you do not have the correct tools. ROS has a tool that will help you build a map using the odometry and a laser sensor. This tool is the map_server (http://www.ros.org/wiki/slam_gmapping). In this example, you will learn how to use the robot that we created in Gazebo, as we did in the previous chapters, to create a map, to save it, and load it again.

We are going to use a .launch file to make it easy. Create a new file in chapter7_tutorials/launch with the name gazebo_mapping_robot.launch and put in the following code:

<?xml version="1.0"?> <launch> <param name="/use_sim_time" value="true" /> <!-- start up wg world --> <include file="$(find gazebo_worlds)/launch/wg_collada_world.launch"/> ...

With Safari, you learn the way you learn best. Get unlimited access to videos, live online training, learning paths, books, interactive tutorials, and more.

Start Free Trial

No credit card required