Exploration Steps
# Start roscore.
roscore
# Start gazebo (plz configure world model inside tieh launch file).
roslaunch closedloop_nav_slam gazebo_turtlebot.launch mode:=exploration
# Start move_base (plz configure robot speed.)
# (Sample values: max_vel_x: 0.5, max_vel_x_backwards: 0.2, max_vel_theta: 0.5, acc_lim_x: 1.0, acc_lim_theta: 0.2)
roslaunch closedloop_nav_slam move_base.launch
# Start slam.
roslaunch slam_toolbox online_async.launch
# Start exploration node.
rosrun closedloop_nav_slam exploration.py
# Save map (default to configs/map/slam_toolbox).
cd scripts/closedloop_nav_slam/utils
sh save_slam_toolbox_map.sh