Usage

mkdir -p wbros_ws/src
cd wbros_ws/src
git clone git@github.com:realHarvey/Robotic-Vacuum.git
cd ..
catkin_make

Include SLAM

Cartographer
Hector
Gmapping

Env

ROS Noetic
Webots 2023b

Run in cartographer

if u wanna run Cartographer, you should copy carto_cfg/cartographer.lua to workspace of cartographer source, find a lua file named revo_lds.lua in src/cartographer_ros/cartographer_ros/configuration_files, replace it !

Look

room in webots

robot vacuum in webots

rviz model

successful tf tree

successful ros graph