$ roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch
$ roslaunch turtlebot3_gazebo turtlebot3_world.launch
$ roslaunch turtlebot3_gazebo turtlebot3_house.launch
In order to teleoperate the TurtleBot3 with the keyboard, launch the teleoperation node with below command in a new terminal window.
$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
Open a new terminal from Remote PC with Ctrl + Alt + T and run the SLAM node. Gmapping SLAM method is used by default.
Please use the proper keyword among burger, waffle, waffle_pi for the TURTLEBOT3_MODEL parameter.
$ roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping
When the map is created successfully, open a new terminal from Remote PC with Ctrl + Alt + T and save the map.
$ rosrun map_server map_saver -f ~/map
Open a new terminal from Remote PC with Ctrl + Alt + T and run the Navigation node.
$ roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml