ROS2 Mapping and Navigation

Demo Random Navigation

• Demonstrate your random_nav lab to one of the instructors.

Obtaining a Robot

• Obtain a robot and follow the instructions from last time for logging in and launching. (There is no need to launch rviz at this point.)

Build a Map

• Once your robot is started you can enable SLAM mapping as follows:

  ros2 launch turtlebot3_cartographer cartographer.launch.py

• Use teleop to drive your robot around the room to create a map. Once you are satisfied with your map, you can save it user the map_saver node:

  ros2 run nav2_map_server map_saver -f ~/engeo1203

Upload a copy of your finished map to Canvas.

Navigating in the map

• Once you have saved your map, you can enable navigation by executing the following two launch files in separate tabs:

  ros2 launch jmu_turtlebot3_bringup navigation2.launch.py map:=$HOME/engeo1203.yaml

  ros2 launch jmu_turtlebot3_bringup nav2_rviz2.launch.py

  At this point you should be able to control your robot by selecting navigation goals.

Random Navigation

• Test your random navigation solution on the real robot.