Mapping using Slam Toolbox

In this section, we will explore what the slam_toolbox project is and how to use it with Nav2.

What is Slam Toolbox?

Slam Toolbox [17] is a ROS 2 project that includes nodes for implementing 2D SLAM [18] in mobile robots. SLAM (Simultaneous Localization and Mapping) is a set of algorithms in robotics used to localize and map the robot environment using different sensors like cameras or lasers to see the surroundings. The generated map can be stored and can later be used for navigation. Examples of 2D SLAM are FastSLAM, Hector SLAM, and Cartographer.

With 2D SLAM, we can create a 2D map of the robot’s environment, which can later be used for navigation.

Steve Macenski, who also leads the Nav2 project, created the Slam Toolbox project. Samsung Research and the open-source community are currently maintaining the project.

Here are the main features of Slam Toolbox:

• 2D mapping: It has 2D SLAM, built for creating and saving...