Mapping
==========================

Creating maps for automated driving

--------------------------------------------------------------------------

**Run Bringup & M - LRF**

.. thumbnail:: /_images/start_gui/mapping.png

--------------------------------------------------------------------------------------

**Run SLAM(GM)**

.. thumbnail:: /_images/start_gui/mapping2.png

--------------------------------------------------------------------------------------

**Run SLAMRVIZ**

.. thumbnail:: /_images/start_gui/mapping3.png

.. thumbnail:: /_images/start_gui/mapping5.png

.. thumbnail:: /_images/start_gui/mapping4.png

- After running SLAM RVIZ, follow the path as above.

--------------------------------------------------------------------------------------

**Draw Map**

.. thumbnail:: /_images/start_gui/mapping6.png

- Draw the map while driving the robot using Motion ctrl.

--------------------------------------------------------------------------------------

**Save Map**

.. thumbnail:: /_images/start_gui/mapping7.png

- After drawing the map, click save map.

.. thumbnail:: /_images/start_gui/mapping8.png

- The command is automatically entered into the terminal and the map is saved.

.. thumbnail:: /_images/start_gui/mapping9.png

.. thumbnail:: /_images/start_gui/mapping10.png

- pgm file showing the appearance of the map and a yaml file with the detailed data of the map are created.