WSL2 + ROS2 [Simulation_turtlebot3 - SLAM] (터틀봇3 슬램)

Simulation_turtlebot3 - SLAM(터틀봇3 슬램)

Launch Simulation World - Gazebo

export TURTLEBOT3_MODEL=burger
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

Run SLAM Node - Rviz2

export TURTLEBOT3_MODEL=burger
ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=True

Run Teleoperation Node - keyboard

export TURTLEBOT3_MODEL=burger
ros2 run turtlebot3_teleop teleop_keyboard

Save Map

ros2 run nav2_map_server map_saver_cli -f ~/map

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- Gazebo

- rviz2