Creating a Map from a loaded world

[edugm94]

Hello,

I wonder if it is possible to create a map of a world where I spawned the robot. I changed the description of the robot as suggested in the README.md :

NOTE: To use Laser instead of 3D Velodyne LiDAR, comment <xacro:include filename="$(find go2_description)/xacro/velodyne.xacro"/> and uncomment <xacro:include filename="$(find go2_description)/xacro/laser.xacro"/> in robot_VLP.xacro file located inside robots/description/go2_description/xacro/ folder.

How can I use the slam.launch.py file? I tried to launch it, but got the following message: [async_slam_toolbox_node-9] [INFO] [1741191752.839498994] [slam_toolbox]: Message Filter dropping message: frame 'front_laser' at time 2803.417 for reason 'discarding message because the queue is full'

Am I missing something? Thanks for any support.

Best regards, Eduardo

[anujjain-dev]

Hi @edugm94 ,

Slam and navigation nodes are not yet configured for this repository. You may update the launch file based on tf links defined from the transform tree.

[edugm94]

Hi @anujjain-dev ,

Thanks for the response. I am not sure if I understood you. However, when I launch the navigation.launch.py with a map I created, I get this view in rviz:

Is this related to your suggestion? Thanks for any support!

Best regards, Eduardo