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Vibe-install kit · vibe robotics / ROS 2

Map the apartment once and reuse the map forever

Run a single SLAM session, save the map, switch to localization-only, and keep using the same floorplan for every later skill.

Platforms

  • turtlebot3
  • turtlebot4
  • yahboom-ros2
  • pi-diy-diff
  • gazebo-sim

Safety

  • Map slowly; watch lidar for reflective glass failures
  • Close doors you don't want mapped

Map the apartment once

Goal: One SLAM pass → saved map → localization-only forever (until furniture moves a lot).

Hardware checklist

  • [ ] Lidar or depth sensor supported by your stack
  • [ ] Teleop (keyboard/joystick)
  • [ ] Disk space for map pgm/yaml

30-minute path

  1. Launch slam_toolbox (or Cartographer) in mapping mode.
  2. Teleop every room slowly; loop corridors twice.
  3. Save map: map_saver_cli -f ~/maps/home.
  4. Relaunch in localization mode with that map.
  5. Create rooms.yaml with named poses: kitchen, couch, dock, entry.
  6. Practice NavigateToPose to each name.

Safety

  • Glass walls confuse lidar — mark keep-out zones.
  • Don't map near stairs without virtual walls.

Files

  • kit.yaml, agent-skill.md

Kit files

  • kits/map-apartment-once/README.md
  • kits/map-apartment-once/agent-skill.md
  • kits/map-apartment-once/kit.yaml

Clone the repo and open this folder, or ask an agent to follow agent-skill.md.