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03: Making a map of the environment
The previous wiki documents will help in understanding the concepts used during map creation.
roslaunch turtlebot2i_bringup turtlebot2i_demo1.launch
roslaunch turtlebot_teleop keyboard_teleop.launch
The default location for the map database created by RTAB-Map is ~/.ros/rtabmap.db and the file will persist after stopping the turtlebot2i_bringup. You can simply copy or rename this file to make a backup, use later or share with another robot.
RTAB-Map comes with a database viewer application for more information please see:
https://github.com/introlab/rtabmap/wiki/Tools#database-viewer
Other methods for map creation exist. One of which is called frontier_exploration:
There are also alternate packages with varying features and algorithms for creating maps:
You can also explore more of the features offered by RTAB-Map such as multi session mapping: