Exploring SLAM Toolbox

Installations

• Install Turtlebot3 — Switch to Foxy at the top bar
• Clone and build Turtlebot3 Simulation — Switch to Foxy at the top bar
• Clone and build SLAM Toolbox — foxy-devel branch

Commands

# Each command inside a new terminal
# Source relevant workspaces before each command
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
ros2 launch nav2_bringup navigation_launch.py
ros2 launch nav2_bringup rviz_launch.py
ros2 launch slam_toolbox online_async_launch.py
ros2 run nav2_map_server map_saver_cli -f ~/map

Dissection of the Commands

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

Launches:

• gzserver.launch.py
• gzclient.launch.py
• robot_state_publisher for turtlebot3

ros2 launch nav2_bringup navigation_launch.py

Following nodes are launched:

• nav2_controller controller_server (Further launches local_costmap node)
• nav2_planner planner_server (Further launches global_costmap node)
• nav2_recoveries recoveries_server
• nav2_bt_navigator bt_navigator
• nav2_waypoint_follower waypoint_follower
• nav2_lifecycle_manager lifecycle_manager

bt_navigator uses navigate_w_replanning_and_recovery.xml from nav2_bt_navigator
All nodes use nav2_params.yaml from nav2_bringup

ros2 launch nav2_bringup rviz_launch.py

Launches rviz2 from package rviz2
Uses nav2_default_view.rviz from nav2_bringup

ros2 launch slam_toolbox online_async_launch.py

Launches async_slam_toolbox_node from package slam_toolbox
Uses mapper_params_online_async.yaml from slam_toolbox