To carryout expreriments on simulated environment we need to design a world and then create a map of it so that robot can use it to navigate.
1. Here I have designed a world which is a replica of a lab with exact measurements of the room. 2. Robot was moved in this simulated environment using amcl package and Slam mapping was used to map the room.
1. A map was generated which can be further used by robot to plan it's navigation in the simulated environment. 2. Such maps can stacked in levels and then further used by robot to autonomously move in it's surrounding.