turtlebot_slam

Mapping using Rosbags

Use the launch/rosbag_mapping.launch launch file (parameters documented below).

roslaunch turtlebot_slam rosbag_mapping.launch bagfile:=<path to bagfile> playback_factor:=<factor>  pause:=<pause> mapping_backend:=<backend>

Use rqt_reconfigure to adjust mapping parameters

rosrun rqt_reconfigure rqt_reconfigure

Parameters

• bagfile: Absolute path to bagfile containing all relevant ros messages. Default: ''
• mapping_backend: The mapping backend to use for creating the maps. Choose one of ours or gmapping. Default: ours
• pause: Start with bagfile playing paused (press spacebar to start playing data). If false, data starts playing immediately. Default: true
• playback_factor: Rate at which the bagfile should be played. Default: 1.0 (real-time)

Results

We evaluate the quality of maps generated using our naive mapping algorithm

Simulated Environment

Gazebo environment:

Real Environment

Birds-eye view of the environment

Results of mapping:

Ours:

GMapping:

We can see that our map is definitely inferior to that of GMapping, but still gets the job done!