Mapping - Saving the map

1. Try to build the map without any empty cell in the arena or in the middle.

• Finally, congrats you have made you first map. Let's save it.

2. Go to RViz, here you see Panals in that you will get Add New Panals

• Select SlamToolboxPlugin under slam_toolbox

3. Just enter map or your map name in both first 2 rows and click on both Save Map and Seriallize Map

• This will save the map in your opened directry i.e. /colcon_ws/

4. Here you will find 4 files named map.data, map.pgm, map.posegraph and map.yaml

• Just copy that in the pkg ebot_nav2 i.e. /ebot_nav2/maps/

5. Update the map name in ebot_bringup_launch.py launch file in dir /ebot_nav2/launch/.

	declare_map_yaml_cmd = DeclareLaunchArgument(
        'map',
        default_value=os.path.join(ebot_nav2_dir, 'maps', 'map_name.yaml'),  ## Update the map config here
        description='Full path to map yaml file to load')

6. Update the map name in nav2_params.yaml launch file in dir /ebot_nav2/params/.

	map_server:
    ros__parameters:
    use_sim_time: True
    yaml_filename: "map_name.yaml"  ## Update the map name here

7. Since we added map files in the ebot_nav2 pkg, we have to rebuild it.

	colcon build

OR

	colcon build --symlink-install

Why to rebuild ?? Google it !