Tutorial: Rosbee Robot Simulation (Gmapping in Gazebo)

1. Get the packages of the Rosbee simulation:

The simulation package is located on Github:
https://github.com/stanverbeek/Cooperative-Robotics

The SLAM Gmapping package is located in another Github:
https://github.com/ros-perception/slam_gmapping.git

The package to control the robot in the simulation is located here:
http://wiki.ros.org/teleop_twist_keyboard

2. Simulate the Rosbee in Gazebo:

2.1. Gazebo Simulation with Rosbee

When the packages are located in your workspace, you can run the simulation. Use the following command to run the Gazebo simulation:
roslaunch rosbee_gazebo one_robot_scenario.launch

Gazebo will start up and it should look like the following picture:

2.2. Start up Gmapping

The next command starts the gmapping node:
roslaunch rosbee_gazebo slam_gmapping_1rosbee.launch

If you see ¨Registering First Scan¨ at the end of the terminal, then the scan is active. It will looks like the following picture:

2.3. Visualize the map

The next thing to do is to start up Rviz:
rviz

Now the map can be added. Click on the knob ¨Add¨ in the left bottom of Rviz. Then select the tab ¨By topic¨ and open ¨/gmapping/map1/Map¨ (see picture below).


Then Rviz will open something like this:

2.4. Control driving the Rosbee robot

Use the following command to control the Rosbee robot with your keyboard:
rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=r1/cmd_vel

This video shows how the simulation works of making a map:

This video shows the Rosbee robot in the simulation environment (Gazebo):