NavigationΒΆ
Get into the map folder
roscd racecar_slam/maps/
Download the map data and save it into this folder
Get into the Navigation folder and change the linear velocity data
roscd racecar_navigation/launch/includes/
gedit tianbot_move_base.launch.xml
find the line of baseSpeed and change it into
<param name="baseSpeed" value="1600"/> <!-- pwm for motor constant speed, 1480: stop, 1440: ~0.5m/s, 1430: ~1.5m/s -->
Change the Navigation Launch file
roscd racecar_navigation/launch/
gedit racecar_amcl_nav.launch
Find the line of map selection and change it into
<arg name="map_file" default="$(find racecar_slam)/maps/first_floor.yaml" />
start the Navigation program
roslaunch racecar_navigation racecar_amcl_nav.launch
Open another terminal to run rViz
rviz
Add the map data inside rviz