SLAM-Turtlebot3-simulation- (ROS Kinetic)
If you haven't downloaded Turtlebot3 packages you may find them in the link below
In the beginning, we are gonna run Gazebo World in order to see the map
The used world is Turtlebot3 House and the used turtlebot model is burger.
export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_gazebo turtlebot3_house.launch
In order to control a TurtleBot3 with a keyboard. Open new terminal.
export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
Thirdly, open new terminal and export the robot model and run the SLAM node in RViz.
export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping
Lastly. After moving around the map. If you want to save the map in .pgm & .yml
rosrun map_server map_saver -f ~/map
You will find the saved map in home directory