SLAM

The SLAM layer builds and saves maps from lidar and robot state estimation.

Supported workflows

GMapping based mapping
Cartographer based mapping
slam_toolbox based mapping
Map saving for later navigation

Before mapping

Check these items before tuning SLAM parameters:

Lidar scan topic is stable.
base_link, lidar frame, odom, and map are consistent.
Odometry does not jump during slow manual driving.
The robot can move slowly and safely in the target area.

Output

The map should be saved with clear names, for example:

bash

maps/lab_2026_04_27.yaml
maps/lab_2026_04_27.pgm