Gmapping using Differential Drive Robot

Usage

1. Start ROS Master

$ roscore

2. Start the Simulation

$ roslaunch differential_drive_description gazebo.launch

3. Run the Teleop Keyboard

$ rosrun differential_drive_robot teleop_keyboard.py

Dependencies

1. Gmapping Package

$ sudo apt-get install ros-[DISTRO_NAME]-gmapping*

2. Differential Driver Controller

$ sudo apt-get install ros-[DISTRO_NAME]-diff-drive-controller*

Gazebo View

1. Model View

2. World

Improvements

1. Improved Interial Matrix
2. Improved Odometry

To be done

1. Setting a demo world.
2. Adding gmapping algorithm.

Issues

1. Map is empty
2. Weird map is generated