# In a first Terminal: $ ros2 run teleop_twist_keyboard teleop_twist_keyboard # In a second Terminal # We will launch the async_slam_toolbox_node of slam_toolbox using the package's # built-in launch files. Open a second terminal and then execute the following lines # This is inconvenient, and will be fixed in the navigation_bot_05 section (next one). $ ros2 launch slam_toolbox online_async_launch.py # In a third Terminal: $ cd ~/SnowCron/ros_projects/harsh $ colcon build --packages-select navigation_bot_04 $ source install/setup.bash $ ros2 launch navigation_bot_04 launch_sim.launch world:=src/worlds/maze.sdf # Note: we are working on switching to $ ros2 launch navigation_bot_04 main_simulation_launch.py world:=src/worlds/maze.sdf slam:=True
As the result, we have a robot, based on a more flexible launch system than before, that we can drive around and save the map it produces. In the next section we are going to learn how to load a saved map and to perform simple navigation tasks.