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turtlebot3: turtlebot3_bringup | turtlebot3_description | turtlebot3_example | turtlebot3_navigation | turtlebot3_slam | turtlebot3_teleop
Package Summary
Released
Documented
The turtlebot3_slam package provides roslaunch scripts for starting the SLAM
- Maintainer status: developed
- Maintainer: Will Son <willson AT robotis DOT com>
- Author: Pyo <pyo AT robotis DOT com>, Darby Lim <thlim AT robotis DOT com>, Gilbert <kkjong AT robotis DOT com>, Leon Jung
- License: Apache 2.0
- Bug / feature tracker: https://github.com/ROBOTIS-GIT/turtlebot3/issues
- Source: git https://github.com/ROBOTIS-GIT/turtlebot3.git (branch: kinetic-devel)
turtlebot3: turtlebot3_bringup | turtlebot3_description | turtlebot3_example | turtlebot3_navigation | turtlebot3_slam | turtlebot3_teleop
Package Summary
Released
Documented
The turtlebot3_slam package provides roslaunch scripts for starting the SLAM
- Maintainer status: developed
- Maintainer: Will Son <willson AT robotis DOT com>
- Author: Pyo <pyo AT robotis DOT com>, Darby Lim <thlim AT robotis DOT com>, Gilbert <kkjong AT robotis DOT com>, Leon Jung
- License: Apache 2.0
- Bug / feature tracker: https://github.com/ROBOTIS-GIT/turtlebot3/issues
- Source: git https://github.com/ROBOTIS-GIT/turtlebot3.git (branch: melodic-devel)
turtlebot3: turtlebot3_bringup | turtlebot3_description | turtlebot3_example | turtlebot3_navigation | turtlebot3_slam | turtlebot3_teleop
Package Summary
Released
Documented
The turtlebot3_slam package provides roslaunch scripts for starting the SLAM
- Maintainer status: developed
- Maintainer: Will Son <willson AT robotis DOT com>
- Author: Pyo <pyo AT robotis DOT com>, Darby Lim <thlim AT robotis DOT com>, Gilbert <kkjong AT robotis DOT com>, Leon Jung
- License: Apache 2.0
- Bug / feature tracker: https://github.com/ROBOTIS-GIT/turtlebot3/issues
- Source: git https://github.com/ROBOTIS-GIT/turtlebot3.git (branch: noetic-devel)
ROS Software Maintainer: ROBOTIS
ROBOTIS e-Manual
ROS API
turtlebot3_slam_gmapping
This package is used gmapping.Parameters
~base_frame (string, default: base_footprint)- The frame attached to the mobile base.
- The frame attached to the odometry system.
- Map update interval (sec).
- Max Range of laser sensor to use (meter).
- Min Score considering the results of scan matching.
- Max Range of laser sensor to use (meter).
- Min rotation angle required for processing.
- If the last scan time exceeds this update time, the scan is performed. Negative values will be ignored and not used.
- Max Range of laser sensor to use (meter).
- Number of beams to skip in each scan.
- Number of particles in the filter.
- Standard deviation of laser-assisted search.
- Max Range of laser sensor to use (meter).
- Window size of laser-assisted search.
- Initial search step (translation).
- Initial search step (rotation).
- Number of scan-matching iterations.
- The sigma of a beam used for likelihood computation
- Gain to be used while evaluating the likelihood.
- Odometry error (translation→ translation).
- Odometry error (translation→ translation).
- Odometry error (rotation → translation).
- Odometry error (rotation → rotation).
- Resampling threshold value.
- Initial map size (min x).
- Initial map size (min y).
- Initial map size (max x).
- Initial map size (max y).
- Translational sampling range for the likelihood.
- Translational sampling step for the likelihood.
- Angular sampling range for the likelihood.
- Angular sampling step for the likelihood.