CLEARPATH Turtlebot4 User Manual page 126

Table of Contents

Generating a map

In this tutorial we will be mapping an area by driving the TurtleBot 4 around and using SLAM.

Start by making sure that the area you will be mapping is clear of unwanted obstacles. Ideally,

you don't want people or animals moving around the area while creating the map.

Launch SLAM

First, make sure that the RPLIDAR and description nodes are running on the TurtleBot 4.

Then run SLAM. It is recommended to run synchronous SLAM on a remote PC to get a higher

resolution map.

ros2 launch turtlebot4_navigation slam_sync.launch.py

Asynchronous SLAM can be used as well.

ros2 launch turtlebot4_navigation slam_async.launch.py

Launch Rviz2

To visualise the map, launch Rviz2 with the

view_robot

launch file.

ros2 launch turtlebot4_viz view_robot.launch.py

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