# Turtlebot 4 - SLAM

## Multirobot configuration

Run the following commands in separate terminals (you can use [`tmux`](../../../linux/software/cli/tmux/index.md.md)) and for each robot where `X` is the ID of particular robot:

**On PC**

Install `turtlebot4-navigation`:

````{tabs}
```{code-tab} bash Humble
sudo apt install ros-humble-turtlebot4-navigation
```

```{code-tab} bash Jazzy
sudo apt install ros-jazzy-turtlebot4-navigation
```

Launch SLAM stack:

````{tabs}
```{code-tab} bash Humble
ros2 launch turtlebot4_navigation slam.launch.py namespace:=/turtleX
```

```{code-tab} bash Jazzy
ros2 launch turtlebot4_navigation slam.launch.py namespace:=/turtleX
```
````

Launch Rviz2:

````{tabs}
```{code-tab} bash Humble
ros2 launch turtlebot4_viz view_robot.launch.py namespace:=/turtleX
```

```{code-tab} bash Jazzy
ros2 launch turtlebot4_viz view_navigation.launch.py namespace:=/turtleX
```
````

Launch `nav2`

````{tabs}
```{code-tab} bash Humble
ros2 launch turtlebot4_navigation nav2.launch.py namespace:=/turtleX
```

```{code-tab} bash Jazzy
ros2 launch turtlebot4_navigation nav2.launch.py namespace:=/turtleX
```
````

## Driving the robot

Install `teleop-twist-keyboard`:

````{tabs}
```{code-tab} bash Humble
sudo apt install ros-humble-teleop-twist-keyboard
```

```{code-tab} bash Jazzy
sudo apt install ros-jazzy-teleop-twist-keyboard
```
````

than run:

````{tabs}
```{code-tab} bash Humble
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r __ns:=/turtleX
```

```{code-tab} bash Jazzy
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r __ns:=/turtleX -r cmd_vel:=cmd_vel_unstamped
```
````