Hector quadrotor

The drone model used is here is hector quadrotor. The setup has a utml30x lidar and camera attached to the quadrotor.The world (testing environment) is built using gazebo building editor.

The first setup uses gmapping to build a map by scanning through the entire room in 2D space.

Mapping stage

Above videos display the map building stage using gmapping slam package.

During this stage, teleop commands are sent to drive the drone from initial location to the goal location.