📚 Module Reference
Browse our complete library of 7 documentation modules. Each module is a reusable piece of documentation that can be combined into procedures and custom guides.
Showing 7 modules
Launch robot state publisher and Cartographer
Start the robot state publisher, Cartographer SLAM and occupancy grid nodes.
Monitor SLAM constraint topics
Inspect constraint list and trajectory topics to diagnose SLAM performance.
Prepare Cartographer launch file
Copy the cartographer_simple.launch.py file into the cartographer_ros package and rebuild.
Save and convert the SLAM map
Finish the current Cartographer trajectory, write the state to disk and convert to a ROS map.
Tune Cartographer parameters
Adjust SLAM parameters such as resolution and update rate to improve mapping quality.
Verify SLAM topics
Check that Cartographer publishes the expected topics and visualize the TF tree.
View the robot SLAM visualization
Launch a combined RViz session to inspect the live map and robot state.