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:

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

Open a terminal window.
Log in to the Navqplus console:
```
ssh user@<navqplus-ip>
```

Make sure USB1 is in the host mode:

lsusb
Bus 002 Device 002: ID 0451:8140 Texas Instruments, Inc. TUSB8041 4-Port Hub
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 005: ID 2109:0101 VIA Labs, Inc. USB 2.0 BILLBOARD
Bus 001 Device 004: ID 05e3:0608 Genesys Logic, Inc. Hub
Bus 001 Device 003: ID 10c4:ea60 Silicon Labs CP210x UART Bridge
Bus 001 Device 002: ID 0451:8142 Texas Instruments, Inc. TUSB8041 4-Port Hub
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

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:

Restart chrony service:
```
sudo systemctl restart chrony
```
(Use your Desktop PC password.)

Set up cyclonedds as default RMW:

export RMW_IMPLEMENTATION="rmw_cyclonedds_cpp"

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 the robot to move to.