ROS2 Nav2 - Generate a Map with slam_toolbox

Learn how to use the slam_toolbox package with Nav2, to be able to generate a map for Navigation. Step by step tutorial with all necessary instructions.

⏱️ Chapters
(00:00) Intro
(00:25) ROS2 and DDS Setup
(02:18) Install the Nav2 stack and slam_toolbox
(03:37) Start the ROS2 stack for your robot
(05:41) Make sure there is a /scan topic
(06:41) Start Nav2 and the slam_toolbox
(08:45) Start and configure RViz2
(10:59) Generate the map
(13:15) Save the map
(14:51) Next steps

[chandrahasachilukuri]

You have been helping me ever since I started with ROS2 and never felt it easier
super explanation and demonstration

[aggorjefferson]

You're the best. Undoubtedly, the best resource on YouTube. Thank you very much!

[laupetre]

Great video! Thank you for your quality content!

[cyclicalobsessive]

slam_toolbox is reportedly better than cartographer, but with my robot the turtlebot3_cartographer makes beautiful maps and localizes in the built map, where slam_toolbox maps are a mess (like the world is rotating).

[abdullahusman]

I followed all your steps and they’re very straightforward. One issue though, I can’t seem to find the maps anywhere on my computer. You were able to access them but I can’t find them anywhere. Please help.

[ilng]

How can I scan and make a map of a real environment instead of the environment simulated on gazebo?

[pradeepjayaweera]

Please how to move robot backword in NAV2. Thank you

[damiaK]

how to do this for custom gazebo world?

[sjoerdvgerwen]

Hi, I started learning ROS2 with your Udemy course. Now I'm at the point of SLAM Mapping, to eventually build a robot swarm. I've now followed this tutorial but I'm not sure how to get a SLAM map for my real world LiDAR instead of simulated one. Can you help me out? Thanks in advance!

[mikaelehaile]

For some reason gazebo doesn’t work for me

[alexsalgado]

Hey, good content. But I'm receiving this error, could you help?

sudo apt install ros-humble-rmw-cyclonedds-cpp
[sudo] password for salgado:
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
You might want to run 'apt --fix-broken install' to correct these.
The following packages have unmet dependencies:
libignition-common4-av-dev : Depends: libignition-utils1-dev but it is not going to be installed
libignition-common4-core-dev : Depends: libignition-utils1-dev but it is not going to be installed
: Depends: libignition-utils1-dev but it is not going to be installed
: Depends: libignition-utils1-dev but it is not going to be installed
libignition-gazebo6-dev : Depends: libignition-utils1-cli-dev but it is not going to be installed
Depends: libignition-utils1-dev but it is not going to be installed
libignition-physics5-core-dev : Depends: libignition-utils1-dev but it is not going to be installed
: Depends: libignition-utils1-cli-dev but it is not going to be installed
Depends: libignition-utils1-dev but it is not going to be installed
libsdformat12-dev : Depends: libignition-utils1-dev but it is not going to be installed
ros-humble-rmw-cyclonedds-cpp : Depends: ros-humble-cyclonedds but it is not going to be installed
Depends: ros-humble-iceoryx-binding-c but it is not going to be installed
E: Unmet dependencies. Try 'apt --fix-broken install' with no packages (or specify a solution).

[oviniakpura]

when I try to launch the Gazebo with turtlebot3 using mentioned the command this error comes to play "[ERROR] [spawn_entity.py-4]: process has died [pid 10879, exit code -2, cmd -entity waffle -file -x -2.0 -y -0.5 -z 0.01 --ros-args']." could you please give a solution for this one?