Launch robot state publisher and Cartographer
Start the robot state publisher, Cartographer SLAM and occupancy grid nodes.
Run these commands in separate terminals to start the robot state publisher, launch Cartographer for SLAM, and publish an occupancy grid map.
bash
cd ~/repos/common_platform/common_platform_ws
source install/setup.bash
ros2 launch common_platform pub_robot_state.launch.py use_sim_time:=false
bash
cd ~/ros2_ws
source install/setup.bash
ros2 launch cartographer_ros cartographer_simple.launch.py
bash
ros2 run cartographer_ros cartographer_occupancy_grid_node --ros-args -p resolution:=0.05 -p publish_period_sec:=1.0 -r __ns:=${ROS_NAMESPACE}