- turn to the file “src” in Terminal:
cd catkin_ws/src
- clone the repository:
git clone https://github.com/ros-perception/slam_gmapping.git
- If there is no “slam-gmapping” in the computer, try to install it with the command:
cd ~
sudo apt-get install ros-kinetic-slam-gmapping
- compile the workspace:
cd catkin_ws
catkin_make
Finished.
After the Installation, the name of " base_scan" need to be changed into the name of own laser scan. (To find it, run “rostopic list”)
And then, try to run the launch file:
roslaunch gmapping slam_gmapping_pr2.launch