Autonomous Wheelchair project : Project 5 for the course ENPM 661 Planning of Autonomus Robot
ROS Verison : Kinetic
In Terminal 1, launch the Gazebo world
roslaunch mybot_gazebo mybot_world.launch
In Terminal 2, start map building
roslaunch mybot_navigation gmapping_demo.launch
In Terminal 3, launch rviz and set the following parameters:
roslaunch mybot_description mybot_rviz_gmapping.launch
In Terminal 4, Send a base controller command and ensure that the robot moves in both Gazebo and rviz :
rostopic pub /cmd_vel geometry_msgs/Twist "linear: x: 0.2 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.1"
In Terminal 5, save the map to some file path
rosrun map_server map_saver -f ~/mybot_ws/src/mybot_navigation/maps/test_map