Launching SLAM

Description

This application note describes step to launch lidar-based SLAM on iRobot Create3 with Navqplus as a compute board.

Preparation

The application note assume the following preparation steps are concluded:

iRobot Create3 SLAM setup

Setup Linux host for running Rviz

Put your robot on a level surface, make sure there are no dangling wires that could damage the robot or the NAVQ Plus board during the movements.

Launching SLAM/navigation stack

1. Open terminal window.

2. Log in to the Navqplus console

   $ ssh user@<navqplus-ip>

3. Start navigation stack:

   $ /opt/ros/humble/share/create3_slam_launch/scripts/start_slam -b

NOTE: You must place the robot on the initial place before starting the navigation stack.

Launching RVIZ

1. Open terminal window

2. Restart chrony service

   $ sudo systemctl restart chrony

3. Set up cyclonedds as default RMW

   $ export RMW_IMPLEMENTATION="rmw_cyclonedds_cpp"

4. Start rviz

   $ /opt/ros/humble/share/create3_slam_launch/scripts/start_rviz

Setting movement goals

In the rviz window use the 2D Goal Pose toolbar button and then click to the location you want robot to move to.