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When i using this commend

roslaunch turtlebot3_slam turtlebot3_slam.launch

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moving the robot will update the map

but i using this commend

roslaunch turtlebot3_navigation turtlebot3_navigation.launch

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i change the base_scan to my laser, but i don't know why still here The robot move to the target , map not update Anyone can tall what i am missing?


Originally posted by alanotmt on ROS Answers with karma: 1 on 2021-12-03

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Comment by ljaniec on 2021-12-03:
By reading documentation for SLAM launcher and for navigation launcher you can see, that only the first one launches SLAM. Second one only navigates TB3 on the map. As I understood, you want to have SLAM and navigation at the same time, right?

Comment by alanotmt on 2021-12-05:
very close, but I mean when the robot turns around and the lidar will follow the robot turns. The lidar will not match the map. However, thank for your help

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SLAM is mapping here. And navigation is localization within a known (static) map. It does what it should do. You could take a look at slam_toolbox its an alternative to gmapping (used in your turlebot example), with many more features. It can expand/refine the map in multiple sessions, though I dont know if it can be done during localization.


Originally posted by Dragonslayer with karma: 574 on 2021-12-03

This answer was ACCEPTED on the original site

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Original comments

Comment by alanotmt on 2021-12-05:
Thank you for your the detail. I found my real problem is the robot moves in real, but the robot model is static and the direction keep from the north.

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