ros-workspace

Things you might need

Install stuff sudo apt-get install python-wstool python-rosdep ninja-build

Run stuff wstool update -t src

# Install deb dependencies.
rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

# Build and install.
catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash

TurtleBot Office Mapping

We start by bringing up the map.

roslaunch turtlebot_gazebo turtlebot_world.launch world_file:=worlds/willowgarage.world

Which launches the turtlebot gazebo instance with turtlebot_world launch file and the "office" world.

We then initiate a new gmapping.

roslaunch turtlebot_gazebo gmapping_demo.launch

And to visualize we use rviz.

roslaunch turtlebot_rviz_launchers view_navigation.launch

And to navigate around we use teleop.

roslaunch turtlebot_teleop keyboard_teleop.launch

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