The second pack of open-source ROS tutorials for TIAGo’s simulation in Gazebo enables the robot to navigate autonomously in indoor spaces. Learn how to create a map with gmapping, localize itself in the space and do path planning avoiding obstacles in real time with the TIAGo Tutorials. PAL Robotics team puts available tutorials in TIAGo robot navigation among other tasks that TIAGo can perform in its public simulation to make it accessible for everyone interested.
Creating a map with gmapping
TIAGo can create a map of the environment around it by using the laser range-finder on the base. The map is required to use afterward AMCL based localization to match laser scans with the map to provide reliable estimates of TIAGo’s pose in the map. All steps are detailed on the Tutorial in order to map the area commanding TIAGo with the keyboard. After completing the map, it can be saved and can be used to perform autonomous localization and path planning. This is an example on how the map is created by TIAGo: