ros create map

followbot_slam.launch

<launch>
  <!-- robot_description -->
  <arg name="model" default="$(find xacro)/xacro --inorder '$(find followbot_mechanum)/urdf/followbot.urdf.xacro'" />
  <param name="robot_description" command="$(arg model)" />

  <!-- robot_state_publisher -->
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/> <!-- publish  TF that contains joint's pose inform  -->

  <!-- Gmapping -->
  <arg name="set_base_frame" default="base_footprint"/>
  <arg name="set_odom_frame" default="odom"/>
  <arg name="set_map_frame"  default="map"/>

  <node pkg="gmapping" type="slam_gmapping" name="followbot_slam_gmapping" output="screen">
    <param name="base_frame" value="$(arg set_base_frame)"/>
    <param name="odom_frame" value="$(arg set_odom_frame)"/>
    <param name="map_frame"  value="$(arg set_map_frame)"/>
    <rosparam command="load" file="$(find followbot_mechanum)/config/gmapping_params.yaml" />
  </node>

  <node pkg="rviz" type="rviz" name="rviz" required="true" args="-d $(find followbot_mechanum)/rviz/followbot_mechanum_2.rviz"/>

</launch>

http://wiki.ros.org/slam_gmapping/Tutorials/MappingFromLoggedData

slam_gmapping/Tutorials/MappingFromLoggedData - ROS Wiki

 

-맵저장

 

rosrun map_server map_saver -f <map_name>