For achieving SLAM we rely on the great slam_toolbox package.
After the robot bring up, simply execute the provided launch file.
ros2 launch andino_slam slam_toolbox_online_async.launch.py
Several configuration can be forwarded to the slam_toolbox_node. By default, the configuration parameters are obtained from config/slam_toolbox_only_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_slam slam_toolbox_online_async.launch.py slams_param_file:=<my_path>
For saving the map you can use map_saver_cli node provided by Nav2.
ros2 run nav2_map_server map_saver_cli -f <my-map-name>You can modify the threshold for free space (0.25) and occupied space (0.65) by using
--free and --occ arguments.
ros2 run nav2_map_server map_saver_cli --free 0.15 -f <my-map-name>More information at:
- https://navigation.ros.org/configuration/packages/configuring-map-server.html
- https://github.com/ros-planning/navigation2/tree/main/nav2_map_server
Once you have the map saved, you can navigate on it!
Go to andino_navigation to learn how.