2. Cartographer Workspace

This repository contains the codebase for setting up the Cartographer SLAM. In this project, we use the Cartographer SLAM to build a map of the environment and localize the robot within the map.

2.1. Building docker image

1. Clone the repository:

   git clone https://github.com/YuZhong-Chen/LLM-Navigation.git
   

2. Build the docker image:

   cd LLM-Navigation/cartographer_ws/docker
   docker compose pull
   docker compose up -d --build
   

2.2. Building the workspace

1. Attach to the container:

   docker attach ros2-cartographer-ws
   

2. Install the dependencies and build the workspace:

   cd /home/ros2-essentials/cartographer_ws
   rosdep update
   rosdep install --from-paths src --ignore-src --rosdistro humble -y
   colcon build
   

2.3. Simple test

1. Attach to the container:

   docker attach ros2-cartographer-ws
   tmux
   

2. Run the simulation in tmux session:

   export TURTLEBOT3_MODEL=burger
   ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
   

3. Open another tmux session and run the Cartographer SLAM:

   source install/setup.bash
   ros2 launch cartographer_ros cartographer.launch.py
   

4. Open another tmux session to control the robot (Optional):

   rqt_robot_steering
   

Note

For more details, please refer to the README.md file in the repository.