Adds example using slam_toolbox.

README.md

@@ -45,6 +45,8 @@ source install/setup.bash
 
 ## :rocket: Usage
 
+### Andino simulation
+
 Once the package is built and sourced, you can start a simulation.
 
   ```sh
@@ -68,6 +70,29 @@ If you'd like to work from ROS you can launch the ros bridge by adding the corre
 Make sure to review the required topics using `ign topics` and `ros2 topic` CLI tools.
 Also, consider using looking at the translation entries under `andino_gz/config/bridge_config.yaml`.
 
+### SLAM
+
+<img src="./docs/media/andino_slam.png" width="800"/>
+
+1. Run simulation with ros bridge and RViz.
+
+    ```sh
+    ros2 launch andino_gz andino_gz.launch.py ros_bridge:=true rviz:=true
+    ```
+
+2. Run slam toolbox
+    ```
+    ros2 launch andino_gz slam_toolbox_online_async.launch.py
+    ```
+
+    Configuration can be forwarded to the `slam_toolbox_node`. By default, the configuration parameters are obtained from [andino's configuration file](https://github.com/Ekumen-OS/andino/blob/humble/andino_slam/config/slam_toolbox_online_async.yaml). In case a custom file is wanted to be passed, simply use the launch file argument for indicating the path to a new file.
+
+    ```
+    ros2 launch andino_gz slam_toolbox_online_async.launch.py slams_param_file:=<my_path>
+    ```
+
+3. Visualize in RViz: Add `map` panel to RViz and see how the map is being generated.
+
 ### Spawn multiple Andinos
 
 Launch simulation as before:
@@ -82,6 +107,8 @@ For spawning more Andinos you can use the `spawn_robot` launch file. Make sure a
   ros2 launch andino_gz spawn_robot.launch.py entity:=andino_n initial_pose_x:=1 initial_pose_y:=1
   ```
 
+_Note: Andino is spawned but no bridge to ROS2 bridge are spawned for those robots._
+
 ## :raised_hands: Contributing
 
 Issues or PRs are always welcome! Please refer to [CONTRIBUTING](CONTRIBUTING.md) doc.

andino_gz/launch/slam_toolbox_online_async.launch.py

@@ -0,0 +1,66 @@
+# BSD 3-Clause License
+
+# Copyright (c) 2024, Ekumen Inc.
+# All rights reserved.
+
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+
+# 1. Redistributions of source code must retain the above copyright notice, this
+#    list of conditions and the following disclaimer.
+
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+#    this list of conditions and the following disclaimer in the documentation
+#    and/or other materials provided with the distribution.
+
+# 3. Neither the name of the copyright holder nor the names of its
+#    contributors may be used to endorse or promote products derived from
+#    this software without specific prior written permission.
+
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+import os
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    slam_params_file = LaunchConfiguration('slam_params_file')
+
+    declare_slam_params_file_cmd = DeclareLaunchArgument(
+        'slam_params_file',
+        default_value=os.path.join(get_package_share_directory("andino_slam"),
+                                   'config', 'slam_toolbox_online_async.yaml'),
+        description='Full path to the ROS 2 parameters file to use for the slam_toolbox node')
+
+    start_async_slam_toolbox_node = Node(
+        parameters=[
+          slam_params_file,
+          {
+            'use_sim_time': True
+          }
+        ],
+        package='slam_toolbox',
+        executable='async_slam_toolbox_node',
+        name='slam_toolbox',
+        output='screen')
+
+    ld = LaunchDescription()
+
+    ld.add_action(declare_slam_params_file_cmd)
+    ld.add_action(start_async_slam_toolbox_node)
+
+    return ld

andino_gz/package.xml

@@ -13,6 +13,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <exec_depend>andino_description</exec_depend>
+  <exec_depend>andino_slam</exec_depend>
 
   <exec_depend>ignition-gazebo6</exec_depend>
   <exec_depend>ros_gz_bridge</exec_depend>