Real-World 2D ROS Mapping Using The Pioneer 3-DX Robot and Sick LMS5xx Sensor

One of the most important problems to be solved in mobile robotics is the question of where the robot is, and what the world around it looks like. This problem is known as Simultaneous Localization and Mapping (SLAM). In this paper, we investigate a real-world robotic system based on the Pioneer 3-DX mobile robot (P3DX), that relies on LiDAR sensor data to achieve accurate indoor mapping when GPS data are unavailable. Hence, we implemented the Gmapping-Slam algorithm within the Robot Operating System (ROS) framework, where we tested it across challenging environments. Moreover, various ROS packages were installed and the sensor was configured to provide a useful tutorial for implementing the system appropriately. Furthermore, to assess the performance of our tests, we first investigated Gazebo simulation, then our real-world experimental scenario was performed via the P3DX robot equipped with the Sick LMS5xx LiDAR sensor.