International Journal of

Intelligent Systems and

Applications in Engineering
ISSN:2147-67992147-6799

Advanced Technology and Science

www.atscience.org/IJISAE

Original Research Paper

SLAM Map Building and Navigation via ROS#

Arbnor Pajaziti*1, Petrit Avdullahu2
Received 05th September 2014, Accepted 18th December 2014
DOI: 10.1039/b000000x
Abstract: The presented work describes a ROS based control system of a Turtlebot robot for mapping and navigation in indoor
environments. It presents the navigation of Turtlebot in self-created environment. The mapping process is done by using the GMapping
algorithm, which is an open source algorithm and the localization process is done by using the AMCL pack. There are ROS built functions
used in order to perform navigation of Turtlebot. The SLAM method implemented in ROS has proven a way for robots to do localization
and mapping autonomously. The aim defined in paper to fulfill mapping, localization and navigation of Turtlebot in new and unknown
environment is achieved
Keywords: Map Building, Navigation, ROS, Simulation, Turtlebot.

1. Introduction
Human beings get the information about their surrounding through
vision, hearing the voice through ears, smelling through nose and
they do feel the strength of objects through touching. In general
human beings get information about reality through senses. A
robot cannot explore an unknown environment unless it is provided
with some sensing sources to get information about the
environment. There are different kinds of sensors used to make a
robot capable of sensing a wide range of environments [1]:
Odometers, Laser range finders, Global Position System (GPS),
Inertia Measurement Units (IMU), Sound Navigation and Ranging
(Sonar) and cameras.
The map of environment is a basic need for a robot to perform
actions like moving room to room, picking an object from one
place and taking it to another one. To perform such actions, the
robot should not only know about the environment but while it is
moving it should also be aware of its own location in that
environment.
The robot simulated is Turtlebot, and in absence of real robot the
simulator provided by ROS is used. The aim to achieve is the
navigation of the robot in new and unknown environment by using
the ROS. As it will be presented, the robot builds the map, localizes
itself on the map and performs navigation.
Turtlebot as ROS compatible robot to demonstrate the ROS power
has been selected. Robot operating system (ROS) is designed to
promote code sharing and enable the development of open-source
robotics commons. Sharing code will help the robotics community
to progress faster by letting the researchers in the community
replicate and extend the results of other research groups. ROS
makes it easy to find the software and integrate it into robot
systems [2-5]. The complete TurtleBot includes a Kobuki base,
Microsoft XBOX Kinect, ROS compatible net book, and turtlebot
structure. General description on turtlebot website is TurtleBot is
a low-cost, personal robot kit with open-source software. With
_______________________________________________________________________________________________________________________________________________________________

IDEA Teknoloji zmleri, Sun plaza BBDO Blok Dereboyu Cd. Bilim
Sk. No:5, 34398, Maslak /stanbul / Turkey
* Corresponding Author:email:[email protected]
# This paper has been presented at the International Conference on
Advanced Technology&Sciences (ICAT'14) held in Antalya (Turkey),
August 12-15, 2014.

TurtleBot, you'll be able to build a robot that can drive around your
house, see in 3D, and have enough horsepower to create exciting
applications. There are numerous abilities that Turtlebot offers,
while there are given part list, assembly instructions and links to
suppliers. There is also a possibility to add other components, or to
substitute similar components.
1.1. Outline
Section 2 starts with an overview of robotics definition and with
an introduction to ROS. There is described a history of ROS
followed by ROS compatible robots and ROS concepts. Section 2
is a description of ROS in general. Section 3 describes the SLAM
concept and as a solution to SLAM problem there is a review of an
algorithm called SLAM with extended Kalman filters. Section 4
starts with an overview of Turtlebot simulation on ROS, and at the
end of section 4 a step-by-step simple solution to navigate the
Turtlebot is brought.
The main reference for section 3 is the book on [6], and the main
reference for section 2 and section 4 is the ROS website referenced
on [7].

2. Introduction to ROS
ROS is meta-operating system for a robot. It provides services that
one would expect from an operating system, including hardware
abstraction, low-level device control, implementation of
commonly-used
functionality,
message-passing
between
processes, and package management. It also provides tools and
libraries for obtaining, building, writing, and running code across
multiple computers. It is named as meta-operating system because
it is something between an operating system and middleware. It
provides not only standard operating system services (like
hardware abstraction), but also high-level functionalities like
asynchronous and synchronous calls, centralized database, a robot
configuration system, etc. ROS can be interpreted also as software
framework for robot software development, providing operating
system [7].

This journal is Advanced Technology & Science 2013

2.1. The general organization of ROS

ROS is a thin, message-based, tool-based system designed for
mobile manipulators. The system is composed of reusable libraries
IJISAE, 2014, 2(4), 7175 | 71

that are designed to work independently. The libraries are wrapped

with a thin message-passing layer that enables them to be used by
and make use of other ROS nodes. Messages are passed peer to
peer and are not based on a specific programming language; nodes
can be written in C++, Python, C, LISP, Octave, or any other
language for which someone has written a ROS wrapper. ROS is
based on a Unix-like philosophy of building many small tools that
are designed to work together (more on that in a bit). ROS grows
out of collaboration between industry and academia and is a novel
blend of professional software development practices and the latest
research results [8].
2.2. ROS-compatible robots
There is quite a big list of compatible robots. A few of them are:
1. Aldebaran Nao
2. Willow Garage PR2
3. TurtleBot
4. AscTec Quadrotor
5. Lego NXT
6. Stanford Racing's Junior
The list of ROS-compatible robots grows constantly.
Turtlebot - TurtleBot combines popular off-the-shelf robot
components like the iRobot Create, Yujin Robot's Kobuki and
Microsoft's Kinect into an integrated development platform for
ROS applications. TurtleBot is a low-cost, personal robot kit with
open-source software.

ROS software is organized into packages. Before writing any

programs, the rst step is to create a workspace that holds the
packages, and then create the package itself. The groovy
distribution of ROS contains some major changes to the way
software is compiled. Older versions used a built system called
rosbuild, but groovy has begun to replace rosbuild with a new
build system called catkin. This is important to mention. An
example of creating a package is:
catkin_create_pkg example1,
which will create package named example1. Created packages
should live in a workspace directory.

3. SLAM Map Building and Navigation

SLAM is concerned with the problem of building a map of an
unknown environment by a mobile robot while at the same time
navigating the environment using the map. The term SLAM is an
acronym for Simultaneous Localization and Mapping. It was
originally developed by Hugh Durrant-Whyte and John J. Leonard.
SLAM consists of multiple parts; Landmark extraction, data
association, state estimation, state update and landmark update [9].
SLAM is more like a concept than a single algorithm. There are
many steps involved in SLAM and these different steps can be
implemented using a number of different algorithms. SLAM is
applicable for both 2D and 3D motion [9].
3.1. The hardware
The hardware of the robot is quite important. To do SLAM there
is a need for a mobile robot and a range measurement device. The
mobile robots considered are wheeled indoor robots. Some basic
measurement devices commonly used for SLAM on mobile robots
are presented here.
Important parameters to consider are ease of use, odometry
performance and price. The odometry performance measures how
well the robot can estimate its own position, just from the rotation
of the wheels. The robot should not have an error of more than 2
cm per meter moved and 2 per 45 degrees turned. Typical robot
drivers allow the robot to report its (x, y) position in some
Cartesian coordinate system and also to report the robots current
bearing/heading [9].
3.2. The description of SLAM

Figure 1. Turtlebot [7].

2.3. Programming with ROS

ROS is language-independent. At this time, three main libraries
have been defined for ROS, making it possible to program ROS in
C++, Python or Lisp. In addition to these three libraries, two
experimental libraries are offered, making it possible to program
ROS in Java or Lua.
There is a project which is still under development named Rosjava.
Rosjava is a pure Java implementation of ROS created and
maintained by Google and Willow Garage. Under Rosjava, the
Rosjava project totally rewrote the ROS core in Java. Googles
objective is to have a version of ROS that is fully compatible with
Android. Rosjava can be used to control robots for which the
operating system is not Linux, but Android.

The SLAM problem is defined as a concurrent localization and

mapping problem, in which a robot seeks to acquire a map of the
environment while simultaneously seeking to localize itself
relative to this map.
From a probabilistic perspective, there are two main forms of the
SLAM problem, which are both of equal practical importance [6]:
1. Online SLAM problem:

p( xt , m | z t , u t )

(1)

2.Full SLAM problem:

p( x1:t , m | z1:t , u1:t )

(2)

where,
Xt is the pose at time t,
m is the map,
Zt is the measurements, and
Ut is the controls.
The graphical model of online SLAM problem is shown in figure
2. The goal of online SLAM is to estimate a posterior over the
current robot pose along with the map.
3.3. SLAM with Extended Kalman Filters

72 | IJISAE, 2014, 2(4), 7175

This journal is Advanced Technology & Science 2014

The earliest SLAM algorithm is based on the extended Kalman

filter. In a nutshell, the extended Kalman filter SLAM algorithm
applies the EKF (Extended Kalman Filter) to online SLAM using
maximum likelihood data association. In EKF maps are featurebased; they are composed of point landmarks. For computational
reason, the number of landmarks is usually smaller than 1000. The
extended Kalman filter tends to work well the less ambiguous the
landmarks are. For this reason EKF SLAM requires significant
engineering of feature detectors [2].
The EKF SLAM algorithm can only process positive sightings of
landmarks. It cannot process negative information that arises
from the absence of landmarks in sensor measurements.

Instructions for ROS Fuerte have been used. All commands used
in this paper are stated on documentation status for ROS Fuerte.
As mentioned earlier, there is a difference between ROS versions.

Figure 2. Graphical model of the online SLAM problem [6].

Figure 4. EKF applied to the online SLAM problem [6].

Figure 3. Graphical model of the full SLAM problem [6].

The SLAM algorithm for the case with known correspondence

addresses the continuous portion of the SLAM problem only. In
addition to estimating the robot pose, the EKF algorithm also
estimates the coordinates of all landmarks encountered along the
way. The combined state vector is given by

x
yt t x y m1, x m1, y
m

S1 ... mN , x m N , y

S N (3)
T

where x, y, and denotes the robots coordinates at time t

m1, x , m1, y are the coordinates of the i-th landmark, for i=1
N, and
Si is its signature.
The dimension of this state vector is 3N+3, where N denotes the
number of landmarks in the map.
Figure 4 illustrates that the EKF SLAM algorithm for an artificial
example.

4. Results and Discussion

Turtlebot in Gazebo with a simulated laser build a map of an
environment with the GMapping algorithm has been setup. It was
assumed that the workspace environment has been created. When
the workspace is created, new packages need to be put in a path
that is in the variable $ROS_PACKAGE_PATH. Echo this
variable and confirm if the package path has been set.
This journal is Advanced Technology & Science 2013

ROS package called ros that depends on these packages has

been created:
o turtlebot_gazebo this package contains launchers, maps and
world descriptions for the TurtleBot simulation with Gazebo.
o turtlebot_teleop this package provides launch files for
teleoperation with different input devices.
o gmapping this package provides laser-based SLAM, as a
ROS node called slam_gmapping.
o amcl this package provides probabilistic localization system
for a robot moving on 2D. It implements the adaptive Monte
Carlo localization approach, which uses a particle filter to
track the pose of a robot against a known map.
o move_base this package provides an implementation of an
action.
The roscreate-pkg command-line tool creates a new ROS
package.
# roscreate-pkg ros turtlebot_gazebo turtlebot_teleop gmapping
amcl move_base
By executing this command, these files will be created:
manifest.xml,
CMakeLists.txt,
mainpage.dox, and
Makefile.
In order to simulate a turtlebot in an appointed environment a
launch file has to be created. Simple office space environment
where the turtlebot can move around and navigate are to be
added. Launch file turtlebot_office.launch can be created within
the folder launch.
# mkdir launch
# gedit launch/turtlebot_office.launch

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While gedit command-line is used to create or edit files, in our

case it is used to create turtlebot_office.launch file, and write the
following code into the created file:
<launch>
<param name=/user_sim_time value=true />
<node name="gazebo" pkg="gazebo" type="gazebo" args="-u
$(find gazebo_worlds)/worlds/simple_office.world" />
<node name="gazebo_gui" pkg="gazebo" type="gui" />
<include file="$(find turtlebot_gazebo)/launch/robot.launch" />
<include file="$(find turtlebot_teleop)/keyboard_teleop.launch"
/>
</launch>

After executing the roslaunch command the simulated robot and

environment appears.
Also there is the turtlebot teleoperating pack (turtlebot_teleop)
included, which means that the turtlebot will move, if joystick or
keyboard is used.
The navigation on given map is depicted in figure 7. First we have
to be sure that Gazebo, map server, amcl and rviz are running [10].
By executing this command in new terminal the turtlebot will be
ready to perform navigation on the given map.
# roslaunch ros move_base_turtlebot.launch
From Rviz tool the navigation goal can be set, by clicking the 2D
Nav Goal button, setting it somewhere in the map, then the robot
will start moving towards the destination [11].

Figure 5. The simulated world with turtlebot in gazebo.

Figure 7. Navigation of Turtlebot.

5. Conclusion

Figure 6. Turtlebot while operating with joystick or keyboard.

ROS is a very powerful control system. There is an increased

tendency of supporting a larger variety of robots by ROS. ROS
provides Gazebo simulator, and it is used for simulating the robot
and the environment together. For visualizing the data published
from Turtlebot the RVIZ tool is used. The combination of Gazebo
and RVIZ brings the feel of real demonstrations.
Once mapping and localization are successfully done then
navigation can be easily achieved. The ROS navigation stack uses
plugins for local and global planning which makes ROS very
useful and very simple to navigate in undefined environments. In
this paper the move_base package has been used for implementing
path planning, which accomplished autonomous navigation.

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This file is used by roslaunch command.
The roslaunch package contains the roslaunch tools which read
the xml format files. The standard format of the roslaunch
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roslaunch package-name launch-file-name.

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