Single Robot Mapping and Navigation with the ROS-Navigation-Stack (Only test on ubuntu 20.04 - ROS Noetic)

Required dependencies

sudo apt install ros-noetic-gmapping
sudo apt install ros-noetic-map-server
sudo apt install ros-noetic-navigation

Donwload and compile the project

cd catkin_ws/src/
git clone https://github.com/Shuteng-0608/single_nav.git
cd ..
catkin_make -DCATKIN_WHITELIST_PACKAGES="single_nav"
source ./devel/setup.bash

Mapping the Gazebo world (SLAM - GMapping)

In Terminal 01, launch the Gazebo world

cd catkin_ws/
source ./devel/setup.bash
roslaunch urdf02_gazebo demo03_env.launch

In Terminal 02, launch the slam-gmapping node

cd catkin_ws/
source ./devel/setup.bash
roslaunch nav_demo nav01_slam.launch

In Terminal 03, use the keyboard controling the robot to build tthe map

cd catkin_ws/
source ./devel/setup.bash
rosrun teleop_twist_keyboard teleop_twist_keyboard.py

In Terminal 04, after building the whole map

cd catkin_ws/
source ./devel/setup.bash
roslaunch nav_demo nav02_map_save.launch