2.0tenth_mapping

A mapping package for the 2.0 Tenth platform using the new Gazebo sim.

ROS2 Build

1. Create your workspace folder
2. Create a src folder
3. Run colcon build on the empty folder to initialize
4. Clone the repository into the src folder
5. Run rosdep update
6. Run rodep install --from-paths src -i -y
7. Run colcon build

The build should be succesfully completed

Tips

Don't forget to source /opt/ros/humble/setup.bash if not in your .bashrc file. Also source install/setup.bash on your workspace after the succesful build

Launch Files

There are 3 useful .launch files which can be used for testing

1. ros2 launch slam_toolbox f1_tenth_offline_mapping.launch.py -> Launches the mapping node which expects either real or simulated data to the subscribed topics
2. ros2 launch slam_toolbox f1_tenth_slam_rviz.launch.py -> Launches RViz with the Slam Toolbox plugin. The map is created in real time and can be saved through the plugin.
3. ros2 launch map2gazebo map2gazebo.launch.py -> Converts the recorded file into a 3D file that can be then used into Gazebo.