Launching SLAM

Description

This application note describes step to launch lidar-based SLAM on iRobot Create3 with Navq Plus 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. Make sure USB1 is in the host mode:

4. Start the navigation applications, leave the window open with the application running:

   /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

Perform the steps below on your Desktop PC:

1. Restart chrony service

   sudo systemctl restart chrony

2. Set up cyclonedds as default RMW

   export RMW_IMPLEMENTATION="rmw_cyclonedds_cpp"

3. 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.