ROS_ND_Map_my_World

RTAB mapping gazebo environment

• First, launch the Gazebo world and RViz, spawn the robot in the environment:

roslaunch my_robot world.launch

• Then, launch the teleop node:

roslaunch my_robot teleop.launch

• Finally, launch the mapping node:

roslaunch my_robot mapping.launch

• With this you can map the enviroment using RTAB mapping.

• With rtabmap-databaseViewer you can view your data which is saved in my_robot/maps folder

Simulation Results

• RTAB Map

• Occupancy Grids