This is code to make a turtlebot explore a small, room-sized area using the move_base and gmapping nodes available online.

A video of this code working can be found here.

In order to run this, first start up the code on the robot:

roslaunch turtlebot_bringup minimal.launch
roslaunch turtlebot_navigation gmapping_demo.launch

and then launch our code:

roslaunch rbe3002_final turtlebot_no_drive.launch

and, if you want to run rviz at the same time, run

rosrun rviz rviz -d rbe3002_final/rviz/rviz.rviz