code.md

Mapping

First open a terminal window, move to robotics folder, source the devel/setup.bash and start the gazebo world

source devel/setup.bash

roslaunch rosbot_description rosbot_rviz_gmapping.launch

Then open another terminal window, move to robotics folder, source the devel/setup.bash and start the teleop node for robot movement

source devel/setup.bash

roslaunch rosbot_navigation rosbot_teleop.launch

After completing the mapping, open another terminal window, move to robotics folder, source the devel/setup.bash and save the map. (modify the path to the maps folder according to your folder structure)

source devel/setup.bash

rosrun map_server map_saver -f ~/robotics/src/rosbot_description/src/rosbot_navigation/maps/test_map

Close all three terminals.

Navigation

First open a terminal window, move to robotics folder, source the devel/setup.bash and start the gazebo world

source devel/setup.bash

roslaunch rosbot_description rosbot_rviz_amcl.launch

Then use rviz to set 2D Nav Goal and the robot will autonomously reach the indicated position. Reconfigure the Path representations in the RVIZ plugins to accomodate Global Planner and Teb Local Planner.

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