auto_mapper

Package for auto exploring frontiers and generating a map with ROS 2 Humble / Iron

Prerequisites

• ROS 2 Humble / Iron on your Ubuntu 22.04
• slam_toolbox
• nav2
• rviz2

Installation & usage

1. Clone the repo

git clone https://github.com/Omar-Salem/auto_mapper

2. Build the ROS 2 workspace

cd {workspace_dir}

colcon build --packages-select auto_mapper

3. Source the ROS Workspace

. install/setup.bash

4. Launch the mapper

ros2 launch auto_mapper auto_mapper.launch.py map_path:=~/map

5. Launch turtlebot3

export TURTLEBOT3_MODEL=burger
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

Gotchas

• If you receive Failed to write file: Exception output stream error, change the map file path to a dir where write access is granted.
• To use with a custom robot, or if the Twist messages aren't published to /cmd_vel, uncomment SetRemap(src='/cmd_vel', dst='{/your/custom_cmd_vel}}') in auto_mapper.launch.py

Contact

Omar Salem - LinkedIn

Acknowledgements

• m-explore