SLAM (Simultaneous Localization and Mapping)
What is SLAM?
SLAM is an already-made program offered with the turtle bots ROS package. This allows you to drive the turtle bots around an area and display a map of the room the turtle bots are in.
This uses ROS HUMBLE. Its installed by default on both the ros server and turtlebots
Set Up
Start by opening a terminal on the Remote PC. (the pc that controlled the turtle bot not the pi on the turtle bot)
1. Run ros2 on the remote PC. To make sure its installed
$ ros2
2. Connect to the turtle bot you want to run the SLAM node on. For the Turtle Bot address, please refer to the turtle bots page
Make sure to open this connection in a new terminal different than the roscore.
$ ssh pi@{IP_ADDRESS_OF_RASPBERRY_PI}
3. Run the bringup node if not already active. The bringup node is the default node for the Turtle Bot.
$ ros2 launch turtlebot3_bringup robot.launch.py
4. Now on the remote PC. Run the SLAM node. Ensure to set up an environment variable TURTLEBOT3_MODEL and set it to waffle_pi.
$ export TURTLEBOT3_MODEL=waffle_pi
$ ros2 launch turtlebot3_cartographer cartographer.launch.py
5. Run Teleoperation Node.
On the remote PC run a new terminal. DO NOT CLOSE the other terminals.
This Node allows you to control the Turtle bot with W A S D.
$ export TURTLEBOT3_MODEL=waffle_pi
$ ros2 run turtlebot3_teleop teleop_keyboard
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