UD_MAP_MY_WORLD

Udacity Robotics Software Engineer Nanodegree Prject of Visual SLAM using RTAB map ROS package.

Installation

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin_make
source devel/setup.bash
cd ~/catkin_ws/src
git clone rtabmap_ros
git clone https://github.com/gauti1311/UD_MAP_MY_WORLD.git

Install RTAB-map packge from source using this link

Install package dependencies

rosdep install -i rtabmap_ros
rosdep install -i [package_name]

Build

cd ~/catkin_ws
catkin_make

Run

roslaunch my_robot world.launch
roslaunch my_robot teleop.launch
rosrun teleop_twist_keyboard teleop_twist_keyboard.py

Run Robot in simualted gazebo environment slowly using teleop package and create an RTAB-map.

View generated map and loop closing using rtab viewer

rtabmap-databaseViewer ./ros/rtabmap.db 

A 3D map generated looks like this