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#create3

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My Pets - Never need to taken out to do their business, don't need to be fed, never make a mess while I'm away...BUT they do demand I teach them something way too often.

TurtleBot5-WaLI (Wallfollower Looking For Intelligence) is running ROS2 Jazzy, and HumbleDave2 (Just Dave) is running ROS2 Humble Hawksbill.

TB5-Wali has been "alive" for 2056 hours since Jan 9, 2025.

HumbleDave2 has self docked 1283 times in his four years of life to date.

#Create3 #IRsensor SLAM - First Attempt

My ir2scan node is working well, but setting the 52 #slam_toolbox params is a mystery.

My create3_navigation slam.launch.py (using #Turtlebot4 LIDAR parms modified for Create3 IR "distance" sensor scan), with Wali facing a wall, maps a wall!

(bouncing around in angle in front of bot...)

As I proceed to drive Wali around the room, more walls enclosing a "known to be open" space are mapped, but not where the sensors and #odometry put them.