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 to NAVQ PLus

2. Restart chrony service

   udo 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.