====== Criando mapas ROS (gmapping) ======
Base PC

as example



<code>
export ROS_MASTER_URI=http://150.164.3.108:11311
export ROS_MASTER_IP=150.164.3.108 
</code>

Pioneer PC 

export ROS_MASTER_URI=http://150.164.3.108:11311


BAse PC

<code> roscore </code>


Pioneer PC 

<code> rosrun p2os_driver p2os </code>

set resolution to 1 or include this on launch

<code>rosparam set sicklms/resolution 1

roslaunch p2os_launch sick.launch </code>

====== From here only Base PC ======

NEW TERMINAL 

<code>rosrun p2os_dashboard p2os_dashboard</code> - active motors

NEW TERMINAL for create the topics and grab the information needed

<code>roslaunch p2os_launch gmapping_tf_lrf_p2os_teleop_joy.launch</code> 

NEW TERMINAL make a bag file to send to mapping module 

<code>rosbag record -O NOME_QUE_DESEJAR /scan /tf</code>

SAME TERMINAL reindex bag file

<code>rosbag reindex teste1_14_04.bag </code>


NEW TERMinal 

<code>rosparam set use_sim_time true</code>

Run gmapping and wait for playing a bag file

<code>rosrun gmapping slam_gmapping scan:=scan</code>

New terminal

<code> rosbag play teste1_14_04.bag </code>

After finish run 

<code>rosrun map_server map_saver</code>

that creates a map.png and map.yaml