Gmapping

Gmapping

Creating the map

Use the gmapping launch file for the respective version of BWI Bot

v2:

roslaunch segbot_navigation robot_with_gmapping_v2.launch

v3: First must change velodyne laser range max from 40 to 80 in the following file

segbot/segbot_sensors/launch/velodyne/velodyne-laserscan.launch

then run

roslaunch segbot_navigation robot_with _gmapping_v3.launch

Saving the map

In order to save the map generated, use the command

rosrun map_server map_saver -f path/home

• The map file names and existing path must be specified
• The first launch must also still be active

Annotating the map

Not sure whether we will annotate the map at all but in order to do so specify the path of the yami file and the directory to store data

rosrun bwi_planning_common logical_marker _map_file:=mapfile.yaml _data_directory:=aDirectory