slam_rtab_ros

Overview

In this project I created a 2D occupancy grid and 3D octomap from a simulated environment using my own robot with the RTAB-Map package.
RTAB-Map (Real-Time Appearance-Based Mapping) is a popular solution for SLAM to develop robots that can map environments in 3D. RTAB-Map has good speed and memory management, and it provides custom developed tools for information analysis.
For this project I will be using the rtabmap_ros package, which is a ROS wrapper (API) for interacting with RTAB-Map.

Prerequisites/Dependencies

• Gazebo >= 7.0
• ROS Kinetic
• ROS navigation package

sudo apt-get install ros-kinetic-navigation

• ROS map_server package

sudo apt-get install ros-kinetic-map-server

• ROS move_base package

sudo apt-get install ros-kinetic-move-base

• ROS amcl package

sudo apt-get install ros-kinetic-amcl

• ROS rtabmap-ros package

sudo apt-get install ros-kinetic-rtabmap-ros

• make >= 4.1(mac, linux), 3.81(Windows)
  • Linux: make is installed by default on most Linux distros
  • Mac: install Xcode command line tools to get make
  • Windows: Click here for installation instructions
• gcc/g++ >= 5.4
  • Linux: gcc / g++ is installed by default on most Linux distros
  • Mac: same deal as make - install Xcode command line tools
  • Windows: recommend using MinGW

Setup Instructions (abbreviated)

1. Meet the Prerequisites/Dependencies
2. Open Ubuntu Bash and clone the project repository
3. On the command line execute

sudo apt-get update && sudo apt-get upgrade -y

4. Build and run your code.

Run the project

• Clone this repository under the catkin_ws/src folder

git clone https://github.com/aaryapatel007/slam_rtab_ros.git

• Open the repository and make

cd /home/workspace/catkin_ws/
catkin_make

• Launch my_robot in Gazebo to load both the world and plugins

roslaunch my_robot world.launch

• Launch teleop_twist_keyboard node, open a new terminal, enter

cd /home/workspace/catkin_ws/
source devel/setup.bash
rosrun teleop_twist_keyboard teleop_twist_keyboard.py

• Launch mapping node, open a new terminal, enter

cd /home/workspace/catkin_ws/
source devel/setup.bash
roslaunch my_robot mapping.launch

• Testing
  Send move command via teleop package to control your robot and observe real-time visualization in the environment rtabmapviz.
  rtabmap-databaseViewer ~/.ros/rtabmap.db

• View database Once you statisfied with your move, press Ctrl + c to exit then view your database with

rtabmap-databaseViewer ~/.ros/rtabmap.db

Remember to rename your ~/.ros/rtabmap.db before your next attempt since it will be deleted due to the launch file setting in mapping.launch

License

This repository is licensed under the terms of the MIT license.