Autonomous Mobile Bot Part 1: Autonomous SLAM
This is part of a series of posts where I document my progress in building an autonomous mobile bot from scratch. The ultimate goal of this project is to build a robot that can accomplish the following tasks: Autonomously map an indoor space using SLAM and save the generated map Load the generated map file and localize the robot inside the map Move the robot around by sending move commands from a GUI that shows the map Github link: https://github.com/Juhyung-L/autonomous_slam Background: At this point in the project, I had set up the simulation envrionment for the robot in Gazebo. I had the robot model in both .urdf (for RViz) and .sdf (for Gazebo) format. The robot was a two-wheeled robot with wheel encoders, an IMU, and a LiDAR. These sensors were added using the Gazebo plugins (diff_drive, imu, lidar) Robot model in RViz The simulation environment in which the robot drove around was the turtlebot3_world, which gets downloaded when you install ROS2. turtlebot3_world in Gazebo SLAM wa