suturo_navigation

Creating a map

Corresponding HSR documentation: 7.6.3 Map

Using the simulator

Loading the world

roslaunch suturo_bringup mapping.launch world:=world.world

By default robot_pos is set to -x 0 -y 0 -z 0 -Y 0 it can be adjusted the same way as the world but is optional. The world is expected to be located in the suturo_resources packages world folder.

Starting hector_slam

First you have to kill the pose_integrator using the follwoing command:

rosnode kill /pose_integrator

Now you can launch hector_slam using the provided launchfile

roslaunch mapping_hector_slam hector_slam.launch

Moving the robot

You can move the robot in the Simulation using rqt.

rqt

Add the plug-in for robot control in rqt.

[Plugins] -> [Robot Tools] -> [Robot Steering]

Save the map

rosrun map_server map_saver -f /path/to/save/map/map_name

This will create a .pmg image of the map and .yaml file containing all nessecary information for the map. Please note that the path has to exists. In the .yaml file the path to the image is relative to the root directory of the computer it was created on. In order to avoid errors later on it is recommended to adjust this path too your needs.