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Laser-based SLAM and path planning on the robot#
The first step of an environment configuration is the creation of a map, that will later be used to localize the robot, for autonomous navigation and to store all the navigation configuration (zones, go to points, etc). This section will detail the steps needed to start/stop mapping, and also describe the best practices to produce a high quality map. We will next go through additional features, such as adding points of interest, zones, and so on.
You can use two different tools to map, localize and navigate with PAL’s robots:
Web User Interface, which provides a more user-friendly interface. It allows the basics to get your robot to start moving around.
rviz, which provides additional capabilities not available in the Web User Interface that may become handy in more advanced cases.
If you are interested in easily getting the work done, we recommed you to use the Web User Interface-based tool.
Otherwise, if you require of additional features and you feel comfortable
working with rviz, then continue with the
rviz-based navigation option.