Mapping

In order to map the environment both Scout and Mapping node must be run. The mapping node should be run on a developer's computer.

Follow the Nano usage guide to start Scout
The below commands should be executed on the developer's computer
- Set up ROS environment
```
export ROS_IP=<HOST IP>
export ROS_MASTER_URI=http://scout-jetson:11311
rostopic list
```
- Launch Cartographer and drive Scout around
```
roslaunch scout mapping.launch
```
- When the map is ready run the following command to save it
```
<PATH_TO_SCOUT>/scripts/save-map.sh <PATH_TO_MAP>
```

Running Cartographer on a rosbag

roslaunch scout mapping_bag.launch bag_filename:=/path/to/rosbag