In this project the robot was moved around the project world usig the "teleop_twist_keyboard" package. Using the RTAB-Map package it could map the world. The Database could not be uploaded to the repository, therefore the lind is to download it from the cloud. RTABMAP-Database download link
However, the following photos demonstrate the path taken to create the map of the Gazebo world. The rtabmap "DatabaseViewer" was used to show the results.