ఇది Real Robotics! TurtleBot3 Mapping & Autonomous Navigation Using ROS Noetic | Telugu Tutorial

 G Mapping : 

First CREATE Workspace 

{bash;terminal}

bash

cd ~/catkin_ws

catkin_make clean

catkin_make

source devel/setup.bash

bash

roscd gmapping

1. Launch the Gazebo Simulation World

bash

export TURTLEBOT3_MODEL=burger  # or waffle, waffle_pi

roslaunch turtlebot3_gazebo turtlebot3_world.launch

2. Launch SLAM (Gmapping)

bash

export TURTLEBOT3_MODEL=burger

roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping

3.Launch Teleoperation (Keyboard Control)

bash

export TURTLEBOT3_MODEL=burger

roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

4.to save map

bash

rosrun map_server map_saver -f ~/map

5.Reuse the Map Later (for Navigation)

bash

roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml

Autonomous Naviation of Turtlebot 3 :

6. To Launch the Gazibo environment of turtlebot 3

bash

export TURTLEBOT3_MODEL=burger  # or waffle / waffle_pi

roslaunch turtlebot3_gazebo turtlebot3_world.launch

7. To Launch the Map and Rviz 

bash

roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml

8. click on the 2d pose estimate 

to  select the robot pose to start 

9.click on the 2d Navigation Goal

to set the goal pf the robot to reach 

after this robot will start moving from starting position to the goal position Autonomously

to check the navigation and slam

rostopic echo /move_base/status