Tutorial 5 - SLAM

• SLAM Toolbox
  • 🎥 Video Walkthrough
  • Run Steps
    • 1️⃣ Bringup (Terminal 1)
    • 2️⃣ Turn On and Connect Controller
    • 3️⃣ Start SLAM Toolbox (Terminal 2)
    • 4️⃣ Open RViz2 (Terminal 3)
  • Configure RViz2
    • 1️⃣ Set the Fixed Frame
    • 2️⃣ Add Map Display
    • 3️⃣ Add GraphVisualization
    • 4️⃣ Add SLAM Toolbox Panel
    • 5️⃣ Drive the Car to Build the Map
  • Common Checks
• Saving the Map
  • 🎥 Video Walkthrough
  • ⚠️ Important
  • Steps to Save the Map
    • 1️⃣ Finish Driving the Map
    • 2️⃣ Open a New Terminal
    • 3️⃣ Save the Map
    • 4️⃣ Verify the Map Was Saved
    • 5️⃣ Rebuild the Workspace
    • Understanding the YAML Thresholds
    • Viewing .pgm Files in VS Code
    • 6️⃣ Stop SLAM and Bringup
    • 7️⃣ Load the Map
    • 8️⃣ Verify the Map in RViz2
    • 9️⃣ Close Everything
  • Common Mistakes
  • Next Step