Slam Mapping

Use this skill to build a 3D point cloud map of the robot's environment.

When to use

• The robot needs to explore and map an unknown environment
• A new map is needed for a changed environment
• The operator requests "build a map" or "start mapping"

How to use

1. Ensure the SLAM service is running (robonix/srv/slam/status)
2. Switch to mapping mode via robonix/srv/slam/switch_mode with mode="mapping"
3. Navigate the robot through the environment to cover the area
4. Save the map via robonix/srv/slam/save_map with a descriptive filename
5. Optionally refine map consistency via HBA (/hba/refine_map)

Outputs

• Real-time odometry on robonix/prm/base/odom (from /fastlio2/lio_odom)
• Loop-closure-corrected trajectory (from PGO)
• 3D point cloud map saved to disk (PCD format, via )