{"id":2652,"date":"2025-07-14T11:29:29","date_gmt":"2025-07-14T11:29:29","guid":{"rendered":"https:\/\/learnbydoing.dev\/?p=2652"},"modified":"2026-01-10T22:21:06","modified_gmt":"2026-01-10T22:21:06","slug":"autonomous-navigation-in-ros2-with-nav2-and-behavior-tree-2","status":"publish","type":"post","link":"https:\/\/learnbydoing.dev\/autonomous-navigation-in-ros2-with-nav2-and-behavior-tree-2\/","title":{"rendered":"Advanced SLAM in ROS2: Mapping with Cartographer"},"content":{"rendered":"<div data-elementor-type=\"wp-post\" data-elementor-id=\"2652\" class=\"elementor elementor-2652\" data-elementor-post-type=\"post\">\n\t\t\t\t<div class=\"elementor-element elementor-element-e28ab35 e-flex e-con-boxed e-con e-parent\" data-id=\"e28ab35\" data-element_type=\"container\" data-e-type=\"container\" id=\"content\" data-settings=\"{&quot;background_background&quot;:&quot;classic&quot;}\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t<div class=\"elementor-element elementor-element-62ab6e3 e-con-full e-flex e-con e-child\" data-id=\"62ab6e3\" data-element_type=\"container\" data-e-type=\"container\">\n\t\t\t\t<div class=\"elementor-element elementor-element-62ab203 elementor-align-center elementor-widget elementor-widget-post-info\" data-id=\"62ab203\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"post-info.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<ul class=\"elementor-inline-items elementor-icon-list-items elementor-post-info\">\n\t\t\t\t\t\t\t\t<li class=\"elementor-icon-list-item elementor-repeater-item-2c98363 elementor-inline-item\" itemprop=\"about\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t<span class=\"elementor-icon-list-text elementor-post-info__item elementor-post-info__item--type-terms\">\n\t\t\t\t\t\t\t\t\t\t<span class=\"elementor-post-info__terms-list\">\n\t\t\t\t<span class=\"elementor-post-info__terms-list-item\">Linux<\/span>, <span class=\"elementor-post-info__terms-list-item\">Nav2<\/span>, <span class=\"elementor-post-info__terms-list-item\">ROS 2<\/span>, <span class=\"elementor-post-info__terms-list-item\">Tutoriales<\/span>\t\t\t\t<\/span>\n\t\t\t\t\t<\/span>\n\t\t\t\t\t\t\t\t<\/li>\n\t\t\t\t<\/ul>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-0650e10 e-con-full e-flex e-con e-child\" data-id=\"0650e10\" data-element_type=\"container\" data-e-type=\"container\">\n\t\t\t\t<div class=\"elementor-element elementor-element-ac19582 elementor-view-default elementor-widget elementor-widget-icon\" data-id=\"ac19582\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"icon.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"elementor-icon-wrapper\">\n\t\t\t<div class=\"elementor-icon\">\n\t\t\t<svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"75\" height=\"75\" viewbox=\"0 0 75 75\" fill=\"none\"><path d=\"M74.9999 75H13.1889V73.0002H71.5859L0.460938 1.87521L1.87515 0.460999L73.0001 71.586V13.1889H74.9999V75Z\" fill=\"white\"><\/path><\/svg>\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-47aa245d e-flex e-con-boxed e-con e-parent\" data-id=\"47aa245d\" data-element_type=\"container\" data-e-type=\"container\" data-settings=\"{&quot;background_background&quot;:&quot;classic&quot;}\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t\t\t<div class=\"elementor-element elementor-element-7c69a8e elementor-widget elementor-widget-image\" data-id=\"7c69a8e\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<img fetchpriority=\"high\" decoding=\"async\" width=\"800\" height=\"534\" src=\"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/6884be43-509f-4bcf-b5ef-3c9e4f5b7d86-1024x683.webp\" class=\"attachment-large size-large wp-image-2659\" alt=\"\" srcset=\"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/6884be43-509f-4bcf-b5ef-3c9e4f5b7d86-1024x683.webp 1024w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/6884be43-509f-4bcf-b5ef-3c9e4f5b7d86-300x200.webp 300w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/6884be43-509f-4bcf-b5ef-3c9e4f5b7d86-768x512.webp 768w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/6884be43-509f-4bcf-b5ef-3c9e4f5b7d86-18x12.webp 18w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/6884be43-509f-4bcf-b5ef-3c9e4f5b7d86.webp 1536w\" sizes=\"(max-width: 800px) 100vw, 800px\" \/>\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-261c3d8 elementor-widget elementor-widget-text-editor\" data-id=\"261c3d8\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p><span class=\"TextRun SCXW93693350 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"auto\"><span class=\"NormalTextRun SCXW93693350 BCX0\">In this tutorial, <\/span><span class=\"NormalTextRun SCXW93693350 BCX0\">you&#8217;ll<\/span><span class=\"NormalTextRun SCXW93693350 BCX0\"> learn how to use Google&#8217;s Cartographer with ROS2 to perform advanced 2D SLAM (Simultaneous Localization and Mapping). Cartographer is a real-time SLAM algorithm that provides loop closure and <\/span><span class=\"NormalTextRun SCXW93693350 BCX0\">accurate<\/span><span class=\"NormalTextRun SCXW93693350 BCX0\"> map construction in dynamic environments. <\/span><span class=\"NormalTextRun SCXW93693350 BCX0\">We&#8217;ll<\/span><span class=\"NormalTextRun SCXW93693350 BCX0\"> use a simulated TurtleBot3, but the steps are adaptable to real robots.<\/span><\/span><span class=\"EOP SCXW93693350 BCX0\" data-ccp-props=\"{}\">\u00a0<\/span><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-324d52d elementor-widget elementor-widget-text-editor\" data-id=\"324d52d\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3 data-start=\"1857\" data-end=\"1885\"><span style=\"vertical-align: inherit;\"><span style=\"vertical-align: inherit;\"><span style=\"vertical-align: inherit;\"><span style=\"vertical-align: inherit;\">\u00a0\ud83d\udcdd <span class=\"TextRun SCXW267512570 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"none\"><span class=\"NormalTextRun SCXW267512570 BCX0\" data-ccp-parastyle=\"heading 1\">Requirements<\/span><\/span><span class=\"EOP SCXW267512570 BCX0\" data-ccp-props=\"{&quot;134245418&quot;:true,&quot;134245529&quot;:true,&quot;335559738&quot;:480,&quot;335559739&quot;:0}\">\u00a0<\/span><\/span><\/span><\/span><\/span><\/h3><ul><li><span class=\"TextRun SCXW63468378 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"auto\"><span class=\"NormalTextRun SCXW63468378 BCX0\">&#8211; ROS2 installed (e.g., Humble or Foxy)<\/span><\/span><span class=\"LineBreakBlob BlobObject DragDrop SCXW63468378 BCX0\"><span class=\"SCXW63468378 BCX0\">\u00a0<\/span><br class=\"SCXW63468378 BCX0\" \/><\/span><span class=\"TextRun SCXW63468378 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"auto\"><span class=\"NormalTextRun SCXW63468378 BCX0\">&#8211; `<\/span><span class=\"NormalTextRun SpellingErrorV2Themed SCXW63468378 BCX0\">cartographer_ros<\/span><span class=\"NormalTextRun SCXW63468378 BCX0\">` installed and built in your workspace<\/span><\/span><span class=\"LineBreakBlob BlobObject DragDrop SCXW63468378 BCX0\"><span class=\"SCXW63468378 BCX0\">\u00a0<\/span><br class=\"SCXW63468378 BCX0\" \/><\/span><span class=\"TextRun SCXW63468378 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"auto\"><span class=\"NormalTextRun SCXW63468378 BCX0\">&#8211; A robot simulation (e.g., TurtleBot3 in Gazebo)<\/span><\/span><span class=\"LineBreakBlob BlobObject DragDrop SCXW63468378 BCX0\"><span class=\"SCXW63468378 BCX0\">\u00a0<\/span><br class=\"SCXW63468378 BCX0\" \/><\/span><span class=\"TextRun SCXW63468378 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"auto\"><span class=\"NormalTextRun SCXW63468378 BCX0\">&#8211; LIDAR sensor publishing on `\/scan`<\/span><\/span><span class=\"LineBreakBlob BlobObject DragDrop SCXW63468378 BCX0\"><span class=\"SCXW63468378 BCX0\">\u00a0<\/span><br class=\"SCXW63468378 BCX0\" \/><\/span><span class=\"TextRun SCXW63468378 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"auto\"><span class=\"NormalTextRun SCXW63468378 BCX0\">&#8211; TF tree properly set up between `<\/span><span class=\"NormalTextRun SpellingErrorV2Themed SCXW63468378 BCX0\">base_link<\/span><span class=\"NormalTextRun SCXW63468378 BCX0\">`, `<\/span><span class=\"NormalTextRun SpellingErrorV2Themed SCXW63468378 BCX0\">odom<\/span><span class=\"NormalTextRun SCXW63468378 BCX0\">`, and `laser`<\/span><\/span><span class=\"EOP SCXW63468378 BCX0\" data-ccp-props=\"{}\">\u00a0<\/span><\/li><\/ul>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-a236fe0 elementor-widget elementor-widget-text-editor\" data-id=\"a236fe0\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3 aria-level=\"2\"><b><span data-contrast=\"none\"><span style=\"vertical-align: inherit;\"><span style=\"vertical-align: inherit;\">Step 1: <span class=\"TextRun SCXW95901594 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"none\"><span class=\"NormalTextRun SCXW95901594 BCX0\" data-ccp-parastyle=\"heading 1\">Launch Simulation and Cartographer<\/span><\/span><span class=\"EOP SCXW95901594 BCX0\" data-ccp-props=\"{&quot;134245418&quot;:true,&quot;134245529&quot;:true,&quot;335559738&quot;:480,&quot;335559739&quot;:0}\">\u00a0<\/span><\/span><\/span><\/span><\/b><\/h3><p><span data-contrast=\"auto\">Start the robot simulation and the Cartographer SLAM launch file. Example with TurtleBot3:<\/span><span data-ccp-props=\"{}\">\u00a0<\/span><\/p><p><b><i><span data-contrast=\"none\">ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=true<\/span><\/i><\/b><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-770de23 elementor-widget elementor-widget-image\" data-id=\"770de23\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<img decoding=\"async\" width=\"800\" height=\"800\" src=\"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/0248abca-4ad4-4f1d-ad8e-6a41f3caa43b.webp\" class=\"attachment-large size-large wp-image-2658\" alt=\"\" srcset=\"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/0248abca-4ad4-4f1d-ad8e-6a41f3caa43b.webp 1024w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/0248abca-4ad4-4f1d-ad8e-6a41f3caa43b-300x300.webp 300w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/0248abca-4ad4-4f1d-ad8e-6a41f3caa43b-150x150.webp 150w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/0248abca-4ad4-4f1d-ad8e-6a41f3caa43b-768x768.webp 768w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/0248abca-4ad4-4f1d-ad8e-6a41f3caa43b-12x12.webp 12w\" sizes=\"(max-width: 800px) 100vw, 800px\" \/>\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-e04c0ca elementor-widget elementor-widget-text-editor\" data-id=\"e04c0ca\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3 aria-level=\"2\">\ud83d\udda5\ufe0f<b><span data-contrast=\"none\">Step 2: <\/span><\/b><b><span data-contrast=\"none\">Move the Robot Around<\/span><\/b><span data-ccp-props=\"{&quot;134245418&quot;:true,&quot;134245529&quot;:true,&quot;335559738&quot;:480,&quot;335559739&quot;:0}\">\u00a0<\/span><\/h3><p><span data-contrast=\"auto\">Use keyboard teleoperation or predefined waypoints to guide the robot around the map:<\/span><span data-ccp-props=\"{}\">\u00a0<\/span><\/p><p><b><i><span data-contrast=\"none\">ros2 run turtlebot3_teleop teleop_keyboard<\/span><\/i><\/b><span data-ccp-props=\"{&quot;335559685&quot;:936,&quot;335559737&quot;:936,&quot;335559738&quot;:200,&quot;335559739&quot;:280,&quot;335572079&quot;:4,&quot;335572080&quot;:4,&quot;335572081&quot;:12419407,&quot;469789806&quot;:&quot;single&quot;}\">\u00a0<\/span><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-9c2b29f elementor-widget elementor-widget-image\" data-id=\"9c2b29f\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<img decoding=\"async\" src=\"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/e42f1fb4-ce8d-4cd3-bfa4-27689f2c506f.webp\" title=\"e42f1fb4-ce8d-4cd3-bfa4-27689f2c506f\" alt=\"e42f1fb4-ce8d-4cd3-bfa4-27689f2c506f\" loading=\"lazy\" \/>\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-7a888ec elementor-widget elementor-widget-text-editor\" data-id=\"7a888ec\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3><span class=\"TextRun SCXW268373394 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"none\"><span class=\"NormalTextRun SCXW268373394 BCX0\" data-ccp-parastyle=\"heading 1\">Step 3: <\/span><\/span><b><span data-contrast=\"none\">Save the Map<\/span><\/b><span data-ccp-props=\"{&quot;134245418&quot;:true,&quot;134245529&quot;:true,&quot;335559738&quot;:480,&quot;335559739&quot;:0}\">\u00a0<\/span><\/h3><p><span data-contrast=\"auto\">Once the robot has explored enough, save the generated map using map_server:<\/span><span data-ccp-props=\"{}\">\u00a0<\/span><\/p><p><b><i><span data-contrast=\"none\">ros2 run nav2_map_server map_saver_cli -f ~\/cartographer_map<\/span><\/i><\/b><span data-ccp-props=\"{&quot;335559685&quot;:936,&quot;335559737&quot;:936,&quot;335559738&quot;:200,&quot;335559739&quot;:280,&quot;335572079&quot;:4,&quot;335572080&quot;:4,&quot;335572081&quot;:12419407,&quot;469789806&quot;:&quot;single&quot;}\">\u00a0<\/span><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-3ff3efc elementor-widget elementor-widget-image\" data-id=\"3ff3efc\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<img decoding=\"async\" width=\"800\" height=\"800\" src=\"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/0950008c-c642-4e59-893f-81e1597d204c.webp\" class=\"attachment-large size-large wp-image-2657\" alt=\"\" srcset=\"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/0950008c-c642-4e59-893f-81e1597d204c.webp 1024w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/0950008c-c642-4e59-893f-81e1597d204c-300x300.webp 300w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/0950008c-c642-4e59-893f-81e1597d204c-150x150.webp 150w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/0950008c-c642-4e59-893f-81e1597d204c-768x768.webp 768w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/0950008c-c642-4e59-893f-81e1597d204c-12x12.webp 12w\" sizes=\"(max-width: 800px) 100vw, 800px\" \/>\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-6fbd50c elementor-widget elementor-widget-text-editor\" data-id=\"6fbd50c\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3><b style=\"color: inherit; font-family: inherit; font-size: 2rem; text-wrap-mode: initial;\"><span data-contrast=\"none\"><span style=\"vertical-align: inherit;\"><span style=\"vertical-align: inherit;\">\ud83d\udee0\ufe0f <\/span><\/span><\/span><\/b><b><span data-contrast=\"none\"><span style=\"vertical-align: inherit;\"><span style=\"vertical-align: inherit;\">Passaggio 4: <\/span><\/span><\/span><\/b><b><span data-contrast=\"none\"><span style=\"vertical-align: inherit;\"><span style=\"vertical-align: inherit;\">Risoluzione dei problemi<\/span><\/span><\/span><\/b><span data-ccp-props=\"{&quot;134245418&quot;:true,&quot;134245529&quot;:true,&quot;335559738&quot;:480,&quot;335559739&quot;:0}\">\u00a0<\/span><\/h3><p><span class=\"TextRun SCXW29556455 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"auto\"><span class=\"NormalTextRun SCXW29556455 BCX0\"><strong><span style=\"vertical-align: inherit;\"><span style=\"vertical-align: inherit;\">&#8211; Errori TF:<\/span><\/span><\/strong><\/span><\/span><\/p><p><span class=\"TextRun SCXW29556455 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"auto\"><span class=\"NormalTextRun SCXW29556455 BCX0\"><span style=\"vertical-align: inherit;\"><span style=\"vertical-align: inherit;\">verificare che esistano i frame corretti (` <\/span><\/span><\/span><span class=\"NormalTextRun SpellingErrorV2Themed SCXW29556455 BCX0\"><span style=\"vertical-align: inherit;\"><span style=\"vertical-align: inherit;\">base_link` <\/span><\/span><\/span><span class=\"NormalTextRun SCXW29556455 BCX0\"><span style=\"vertical-align: inherit;\"><span style=\"vertical-align: inherit;\">, ` <\/span><\/span><\/span><span class=\"NormalTextRun SpellingErrorV2Themed SCXW29556455 BCX0\"><span style=\"vertical-align: inherit;\"><span style=\"vertical-align: inherit;\">odom` <\/span><\/span><\/span><span class=\"NormalTextRun SCXW29556455 BCX0\"><span style=\"vertical-align: inherit;\"><span style=\"vertical-align: inherit;\">, `laser`, ecc.) <\/span><\/span><\/span><\/span><span style=\"vertical-align: inherit;\"><span class=\"TextRun SCXW29556455 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"auto\"><strong><span class=\"NormalTextRun SCXW29556455 BCX0\"><span style=\"vertical-align: inherit;\">&#8211; i dati LIDAR non <\/span><\/span><\/strong><\/span><span class=\"TextRun SCXW29556455 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"auto\"><strong><span class=\"NormalTextRun ContextualSpellingAndGrammarErrorV2Themed SCXW29556455 BCX0\"><span style=\"vertical-align: inherit;\">vengono visualizzati:<\/span><\/span><\/strong><\/span><\/span><span class=\"LineBreakBlob BlobObject DragDrop SCXW29556455 BCX0\"><span class=\"SCXW29556455 BCX0\">\u00a0<\/span><br class=\"SCXW29556455 BCX0\" \/><\/span><\/p><p><span class=\"TextRun SCXW29556455 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"auto\"><span class=\"NormalTextRun SCXW29556455 BCX0\"><span style=\"vertical-align: inherit;\"><span style=\"vertical-align: inherit;\">assicurati che `\/scan` stia pubblicando e che il sensore funzioni <\/span><\/span><\/span><\/span><span style=\"vertical-align: inherit;\"><span class=\"TextRun SCXW29556455 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"auto\"><span class=\"NormalTextRun SCXW29556455 BCX0\"><strong><span style=\"vertical-align: inherit;\">&#8211; La mappa si sta spostando o \u00e8 deformata:<\/span><\/strong><\/span><\/span><\/span><span class=\"LineBreakBlob BlobObject DragDrop SCXW29556455 BCX0\"><span class=\"SCXW29556455 BCX0\">\u00a0<\/span><br class=\"SCXW29556455 BCX0\" \/><\/span><\/p><p><span class=\"TextRun SCXW29556455 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"auto\"><span class=\"NormalTextRun SCXW29556455 BCX0\"><span style=\"vertical-align: inherit;\"><span style=\"vertical-align: inherit;\">controlla la messa a punto del modello di movimento nei parametri di Cartographer <\/span><\/span><\/span><\/span><span style=\"vertical-align: inherit;\"><span class=\"TextRun SCXW29556455 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"auto\"><span class=\"NormalTextRun SCXW29556455 BCX0\"><strong><span style=\"vertical-align: inherit;\">&#8211; Il file di avvio si blocca:<\/span><\/strong><\/span><\/span><\/span><span class=\"LineBreakBlob BlobObject DragDrop SCXW29556455 BCX0\"><span class=\"SCXW29556455 BCX0\">\u00a0<\/span><br class=\"SCXW29556455 BCX0\" \/><\/span><\/p><p><span class=\"TextRun SCXW29556455 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"auto\"><span class=\"NormalTextRun SCXW29556455 BCX0\"><span style=\"vertical-align: inherit;\"><span style=\"vertical-align: inherit;\">assicurati che Cartographer sia correttamente costruito e reperito nel tuo spazio di lavoro<\/span><\/span><\/span><\/span><span class=\"EOP SCXW29556455 BCX0\" data-ccp-props=\"{}\">\u00a0<\/span><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-eae2940 e-con-full e-flex e-con e-parent\" data-id=\"eae2940\" data-element_type=\"container\" data-e-type=\"container\">\n\t\t\t\t<div class=\"elementor-element elementor-element-4db7ad4 elementor-bg-transform elementor-bg-transform-move-left elementor-cta--layout-image-left elementor-cta--mobile-layout-image-above elementor-cta--skin-classic elementor-animated-content elementor-widget elementor-widget-call-to-action\" data-id=\"4db7ad4\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"call-to-action.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"elementor-cta\">\n\t\t\t\t\t<div class=\"elementor-cta__bg-wrapper\">\n\t\t\t\t<div class=\"elementor-cta__bg elementor-bg\" style=\"background-image: url(https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/06\/odometry-control-ros.webp);\" role=\"img\" aria-label=\"odometry control ros\"><\/div>\n\t\t\t\t<div class=\"elementor-cta__bg-overlay\"><\/div>\n\t\t\t<\/div>\n\t\t\t\t\t\t\t<div class=\"elementor-cta__content\">\n\t\t\t\t\n\t\t\t\t\t\t\t\t\t<h2 class=\"elementor-cta__title elementor-cta__content-item elementor-content-item\">\n\t\t\t\t\t\tWant to learn more?\t\t\t\t\t<\/h2>\n\t\t\t\t\n\t\t\t\t\t\t\t\t\t<div class=\"elementor-cta__description elementor-cta__content-item elementor-content-item\">\n\t\t\t\t\t\tYou can find a detailed explaination of the autonomous navigation in  the \"Self Driving and ROS  - Learn by Doing! Odometry and  Control\" course\t\t\t\t\t<\/div>\n\t\t\t\t\n\t\t\t\t\t\t\t\t\t<div class=\"elementor-cta__button-wrapper elementor-cta__content-item elementor-content-item\">\n\t\t\t\t\t<a class=\"elementor-cta__button elementor-button elementor-size-\" href=\"\" target=\"_blank\">\n\t\t\t\t\t\tEnroll Now\t\t\t\t\t<\/a>\n\t\t\t\t\t<\/div>\n\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\t\t<div class=\"elementor-ribbon elementor-ribbon-right\">\n\t\t\t\t<div class=\"elementor-ribbon-inner\">\n\t\t\t\t\tDISCOUNT\t\t\t\t<\/div>\n\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>","protected":false},"excerpt":{"rendered":"<p>In this tutorial, you&#8217;ll learn how to use Google&#8217;s Cartographer with ROS2 to perform advanced 2D SLAM (Simultaneous Localization and Mapping). Cartographer is a real-time SLAM algorithm that provides loop closure and accurate map construction in dynamic environments. We&#8217;ll use a simulated TurtleBot3, but the steps are adaptable to real robots.\u00a0 \u00a0\ud83d\udcdd Requirements\u00a0 &#8211; ROS2 [&hellip;]<\/p>\n","protected":false},"author":5,"featured_media":2659,"comment_status":"closed","ping_status":"open","sticky":false,"template":"elementor_header_footer","format":"standard","meta":{"_acf_changed":false,"footnotes":""},"categories":[47,49,45,43],"tags":[180,179,66,74,182,181,110,100,178,71,73],"class_list":["post-2652","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-linux","category-nav2","category-ros-2","category-tutorials","tag-amc","tag-lbd","tag-learn-by-doing","tag-linux","tag-move_base","tag-nav","tag-navigation","tag-robot","tag-robot-operating-sistem","tag-ros","tag-ubuntu"],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.2 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Advanced SLAM in ROS2: Mapping with Cartographer - Learn by Doing!<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/learnbydoing.dev\/es\/autonomous-navigation-in-ros2-with-nav2-and-behavior-tree-2\/\" \/>\n<meta property=\"og:locale\" content=\"es_ES\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Installing ROS 2 Jazzy on Ubuntu 24.04: Step-by-Step Tutorial\" \/>\n<meta property=\"og:description\" content=\"In this tutorial, you&#8217;ll learn how to use Google&#8217;s Cartographer with ROS2 to perform advanced 2D SLAM (Simultaneous Localization and Mapping). 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