In this section, we will learn how to implement SLAM and apply it to the simulation that we built. You can check the code at chefbot_gazebo/launch/gmapping_demo.launch and launch/includes/ gmapping.launch.xml. Basically, we are using a node from the gmapping package and configuring it with the proper parameters. The gmapping.launch.xml code fragment has the complete definition of this node. The following is the code snippet of this node:

<launch>  
 <arg name="scan_topic" default="scan" /> 
 
  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen"> 
    <param name="base_frame" value="base_footprint"/> 
    <param name="odom_frame" value="odom"/> 
    <param name="map_update_interval" value="5.0"/> 
    <param name="maxUrange" value="6.0"/> 
    <param name="maxRange" value="8.0"/> 

The name of the node that we are using is slam_gmapping and the package is gmapping. We have to provide a few parameters to this node, which can be found in the Gmapping wiki page.