slam_gmapping installation_ROS

1. turn to the file “src” in Terminal:

cd catkin_ws/src

2. clone the repository:

git clone https://github.com/ros-perception/slam_gmapping.git

3. If there is no “slam-gmapping” in the computer, try to install it with the command:

cd ~
sudo apt-get install ros-kinetic-slam-gmapping

4. compile the workspace:

cd catkin_ws
catkin_make

Finished.

After the Installation, the name of " base_scan" need to be changed into the name of own laser scan. (To find it, run “rostopic list”)

And then, try to run the launch file:

roslaunch gmapping slam_gmapping_pr2.launch