Author: Thomas Peyrucain < thomas.peyrucain@pal-robotics.com >

Maintainer: Jordi Pages < jordi.pages@pal-robotics.com >

Support: tiago-support@pal-robotics.com

Source: https://github.com/pal-robotics/pmb3_tutorials.git

(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Create a map with gmapping

Description: This tutorial shows how to create a map of the environment using the range-finder on the TIAGo Base AI.

Keywords: Mapping, laser scan matching

Tutorial Level: INTERMEDIATE

Next Tutorial: Localization

pmb3_mapping_intro.png

Purpose

This tutorial shows how to create a laser map of the environment with the public simulation of TIAGo Base AI using gmapping. The map is required to use afterwards AMCL based localization to match laser scans with the map to provide reliable estimates of the robot pose in the map.

Pre-Requisites

First make sure that the tutorials are properly installed along with the TIAGo Base AI simulation, as shown in the Tutorials Installation Section.

Execution

First of all open two consoles and source TIAGo Base AI public simulation workspace in each one

source ./devel/setup.bash

In the first console launch the following simulation

roslaunch pmb3_2dnav_gazebo pmb3_mapping.launch public_sim:=true

pmb3_mapping_gazevo.png

Note that a rviz will also show up in order to visualize the mapping process.

pmb3_mapping_rviz.png

In the second console launch the keyboard teleoperation node

rosrun key_teleop key_teleop.py

key_teleop.png

By pressing the arrow keys on this console drive TIAGo Base AI around the world. To have a good quality map you could follow close loop trajectories, as show below:

map_quality.png

The map being created will be shown. When the world has been fully mapped, as in the below example:

pmb3_mapped.png

Press 'q' in the key_teleop console and save the map as follows

rosservice call /pal_map_manager/save_map "directory: ''"

The service call will save the map in the following folder

~/.pal/pmb3_maps/configurations/

Now TIAGo Base AI is ready to do autonomous localization and path planning using the map. See next tutorial on how to make use of maps to perform autonomous navigation.

Wiki: Robots/tiago-base-ai/tutorials/navigation/mapping (last edited 2024-12-11 14:25:48 by thomaspeyrucain)