I am just starting with SLAM and have to implement SLAM to get a dimensions (map) of an indoor space.

I have looked at the turtlebot3 slam and slam_toolboox packages with algorithms like gmapping and cartographer. As far as I have understood, these packages requires the user to drive the robot around the room for the 1st time and subsequently we get a map of the room, is my understanding correct ?

If yes, are there any different approaches where the robot drives autonomously while also creating a map in the process ?

Edit: I plan on using ROS2 for implementation initially in a simulation and eventually on a real robot.

Thanks in advance!

  • $\begingroup$ Are you doing this in simulation or with a real robot? Are you using ros1 or ros2? $\endgroup$
    – Mike973
    Nov 3 at 14:01

1 Answer 1


This is a recent post on the ROS Discourse which could be of relevance:

Autonomous Mapping with SMACC & Isaac Sim.


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