slam_gmapping

This package has been ported to ROS 2 from melodic with some help from the initial work by allenh1.

What has not been ported

Tests
the startReplay function

Dependencies

This package is dependent on the openslam_gmapping package. Clone that repository as well before building.

Usage

Make sure the robot is running (i.e. it is publishing laser scans, odometry and TF)
For the youBot, launch: ros2 launch gmapping slam_gmapping.launch.py
To save the map run ros2 run nav2_map_server map_saver_cli -f /path/to/map