slam

Obtaining a Robot

Get a physical Turtlebot and log in. Don’t forget to close all terminals and re-run jmu_ros2_setup.sh to reset the ROS_DOMAIN_ID.

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_cli node:
```
ros2 run nav2_map_server map_saver_cli -f ~/engeo1203
```
You’ll need to edit the resulting engeo1203.yaml file to change the occupied_thresh and free_thres values to .6 and .18 respectively.
Upload a copy of your finished map to Canvas. Make sure to upload both the .yaml and the .pgm file.

Once you have saved your map, you can enable navigation by executing the following launch file:
```
ros2 launch jmu_turtlebot3_bringup navigation2.launch.py map:=$HOME/engeo1203.yaml
```
At this point you should be able to control your robot by selecting navigation goals.