Mapping

Creating maps for automated driving

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Run Bringup

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Act 2LRF

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Run OP.

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Run SLAM(GM) & SLAMRVIZ

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Draw Map

• Draw the map while driving the robot using Motion ctrl.

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Save Map

• After drawing the map, click save map.

• The name of the map stored in the terminal is output.

• Inside the <.ros> folder, one pgm file and one yaml file are created, and the pgm file can be modified using the gimp program.

• The pgm file shows the outline of the map and the yaml file shows the details of the map.