This lesson shows how to build a map which lets the robot remembers the environment. TurtleBot can autonomously navigate around using the map.

Creating a Map

1. Create a folder for maps.

mkdir ~/turtlebot_custom_maps

2. Launch Gazebo world.

roslaunch turtlebot_gazebo turtlebot_world.launch

3. Start map building.

roslaunch turtlebot_gazebo gmapping_demo.launch

4. Use Rviz to visualize the map building process.

roslaunch turtlebot_rviz_launchers view_navigation.launch

5. Change the option.

Local map->Costmap->Topic (choose /map from drop-down list). See on the picture:

Change the Option

6. Change the option.

Global map->Costmap->Topic (choose /map from drop-down list).

7. Launch teleop.

roslaunch turtlebot_teleop keyboard_teleop.launch

NOTE: If you want you can use other tools, for example interactive markers, find the information here.

8. Drive the TurtleBot around.

NOTE: The terminal with teleop launching has to be active all the time otherwise you won’t be able to operate the TurtleBot.

This is a picture of 360-degrees turn:

360-degrees Turn

9. Save a map when your picture is good enough (like this).


rosrun map_server map_saver -f /home/<user_name>/turtlebot_custom_maps/tutorial

10. Interrupt processes and close the terminals.

You can see all these steps in the video:

Creating a Map

Testing the New Map

We can test the result of our work.

1. Launch Gazebo.

roslaunch turtlebot_gazebo turtlebot_world.launch

2. Launch navigation demo.

roslaunch turtlebot_gazebo amcl_demo.launch map_file:=/home/<user_name>/turtlebot_custom_maps/tutorial.yaml

You can launch the default map for playground world if you have not your own map. Run this command:

roslaunch turtlebot_gazebo amcl_demo.launch

3. Launch Rviz.

roslaunch turtlebot_rviz_launchers view_navigation.launch

4. If you see a picture like this then creating the map has been realized successfully.

Testing the Map

NOTE: We will explain you the meaning of new elements in the next tutorial.

5. Interrupt processes and close the terminals.

You can see all these steps in the video:

Testing the New Map

We have just checked that everything works good. We will learn how to use the map for autonomous navigation in the next lesson.