One simple example that I’ve shown here is the autonomous mapping mission for the robot to map its environment to be used for different purposes such as localization.Īs you can see from the videos the random bounce is not efficient because it may take a long time to map even normal-sized rooms. We have seen above that we can use open-source software to learn to develop software for robots and test our software on the simulator. mapping_time: how long the mission should run (in minutes), default is 5 minutes.probability: run Probability Occupancy mapper.To run it you can execute the launch file with different parameters: ros2 launch mapping_controller mapping_controller_launch.py probability:=true rviz:=true mapping_time:=15 world:="test.wbt" path:="/home/$USER/Documents" Assuming that you have installed all of them, you can then:Ĭd /home/$USER/ros2_projects colcon build -packages-select mapping_controller. To use the code, first as described above, you will need to install Webots, ROS2, and Webots ROS2 package. The Mapper takes in Sensor Measurement Data and Transformation to calculate the pose of the robot and create and update the Occupancy Probability Map and publish it. The Random Bouncer moves the robot by setting the linear and angular speeds and detecting obstacles from the Laser Scan. The generated PNG file - 2nd Mission (Image by Author) There are many free and open-source robot simulators that we can use. ![]() Also, you may need a little hardware knowledge to set it up and troubleshoot when there are issues.įor learning or testing purposes, we can use robot simulators. The good thing when we want to learn to write software for robots is that we don’t have to have the “real” robot hardware which can be quite expensive. ![]() ![]() Localization needs a map to estimate robot pose and Mapping needs an accurate pose to map the environment.īecause SLAM is a harder problem to solve, in this article we assume that the pose is accurate so that we can focus on the mapping task.Īlso, readers must have basic knowledge of robotics and Robot Operating System version 2 (ROS2) to follow. Mapping is also a chicken-and-egg problem often referred to as SLAM (Simultaneous Localization and Mapping), where we have two interrelated problems to be solved. The robot has to map the environment autonomously by exploring it. Having a map of the environment is important because many other tasks may depend on the map as a prerequisite.įor some robots, the map is given as input but for many others that is not possible. One of the many tasks that an autonomous robot has to perform is mapping the environment. E-puck2 on Webots Simulator (Image by Author) Overview
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