Introduction

The goal of this lab is to gain experience working with the mapping, localization and navigation resources provided by ROS.

SLAM Mapping

• Complete the SLAM Map Building with TurtleBot tutorial from the ROS wiki.

  Try to create the best map of the lab or the hallway that you can manage. Note that these tutorials assume that you will be running the mapping code on the Turtlebot and the visualization on a separate machine. You should just run everything directly on the notebook.

• Take a minute to look over the map files you created in the previous step. You should be able to open /tmp/my_map.pgm in an image editor and you should be able to open /tmp/my_map.yaml in a text editor.
• Submit both /tmp/my_map.pgm and /tmp/my_map.yaml through Canvas.

Navigation and Localization (If You Have Time)

• Complete the Autonomous Navigation of a Known Map with TurtleBot tutorial from the ROS wiki.