In this lab, you’ll implement a gmapping ROS package which is based on the Grid-based FastSLAM algorithm to map an environment.
Launch the simulation in the VM machine provided in Term1.
Skipt this step if you already have a workspace
$ mkdir -p /home/workspace/catkin_ws/src
$ cd catkin_ws/src/
$ catkin_init_workspace
$ cd ..
$ catkin_make
$ apt-get update
$ apt-get upgrade -y
$ cd /home/workspace/catkin_ws/src
$ git clone https://github.com/udacity/RoboND-SLAMLab
$ cd ..
$ catkin_make
$ source devel/setup.bash
$ cd src/RoboND-SLAMLab
$ ./SLAM.sh
Now, you should see Gazebo and rviz launching.
In the terminal, use the keyboard commands(u-i-o-j-k-l-m-,-.) and drive the robot around. You'll see a map of the environment in Rviz!