ROS Mapping with RViz

This tutorial will allow you to map and area and display the resulting map in RViz.

Mapping

In mapping mode, the map will be built incrementally while the robot moves around. You can use navigation (with goals) or teleoperation (with teleop_twist_keyboard) to drive the robot.

On the robot:
Launch the mapping stack

$ roslaunch securbot_pkg mapping.launch

(If desired) Launch the navigation stack. It must be launched to drive using goals.

$ roslaunch securbot_pkg navigation.launch

On the desktop:
Navigate to securbot_pkg

$ roscd securbot_pkg

Start RViz

$ rosrun rviz rviz -d launch/mapping.rviz

Start teleoperation

$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py