Navigation

1. Script run On Deep Learning RoBot.

first terminal.

roslaunch turtlebot_bringup minimal.launch

second terminal.

roslaunch turtlebot_navigation gmapping_demo.launch

2. Script run on Your PC workstation.

first terminal.

roslaunch turtlebot_rviz_launchers view_navigation.launch

second terminal.

roslaunch turtlebot_teleop keyboard_teleop.launch

3. Make the map.

please using the keyboard to move around to make the map. On Deep Learning Robot. open a terminal window and run:

rosrun map_server map_saver -f /tmp/my_map
ls /tmp/

You will now see two files in the /tmp/ directory my_map.pgm and my_map.yaml. As you create maps in the future, you can save them with different names (e.g. /tmp/my_office).

Autonomous Driving

1. Load the map.

Stop everything from the previous tutorials on both the Deep Learning Robot and the workstation. On Deep Learning Robot run:

roslaunch turtlebot_bringup minimal.launch
roslaunch turtlebot_navigation amcl_demo.launch map_file:=/tmp/my_map.yaml

With everything running successfully on Deep Learning Robot, go to the workstation and run:

roslaunch turtlebot_rviz_launchers view_navigation.launch --screen