Vacbot

A bot which uses LIDAR and designed to map the environment using GMapping

Installation

In order to use this package, go through the following steps:

Open you catkin package and go to the src

cd catkin_ws/src

After that clone the repo to your src

git clone https://github.com/RomalaMishra/vacbot.git

After cloning, source and build the package

source devel/setup.bash
catkin build

Launching

In order to launch the package, first launch the gazebo simulation

roslaunch vacbot rough.launch

Then launch

roslaunch vacbot robot_slam.launch

This will launch Rviz, which will alllow you to visualise the laserscan and the map obtained

Then run the following script which will allow you to teleop the bot and generate the entire map of the world

rosrun vacbot turtlebot3_teleop.py

Now move the bot using W,A,S,D keys and see the bot generate a beautifull map of the world.

Contribution

This project is the result of collaborative efforts. Special thanks to all the contributors who have helped build this project. Contributions to this project are welcome. If you have any ideas for improvements, bug fixes, or additional features, please feel free to fork the repository and submit a pull request.