test slam after itegrating all packages to robot

my_robot/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(my_robot)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES my_robot
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+# ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/my_robot.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/my_robot_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_my_robot.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

my_robot/config/base_local_planner_params.yaml

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+controller_frequency: 10
+
+TrajectoryPlannerROS:
+  max_vel_x: 1.0 #0.5
+  min_vel_x: -0.1 #0.01
+  max_vel_theta: 1.57 #1.5
+
+  min_in_place_vel_theta: 0.314
+
+  acc_lim_theta: 3.14
+  acc_lim_x: 2.0
+  acc_lim_y: 2.0
+
+  sim_time: 1.0
+
+  vx_samples: 5.0
+  vtheta_samples: 10.0
+
+  pdist_scale: 0.6 #0.6
+  gdist_scale: 0.8 #0.8
+  occdist_scale: 0.02
+
+  meter_scoring: true
+
+  holonomic_robot: false

my_robot/config/costmap_common_params.yaml

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+map_type: costmap
+
+obstacle_range: 1.0 # 2.0
+raytrace_range: 2.0 # 3.0
+
+transform_tolerance: 0.2 # 0.0
+
+robot_radius: 0.3 # 0.0
+inflation_radius: 0.5 # 0.0
+cost_scaling_factor: 5.0
+
+observation_sources: laser_scan_sensor
+
+laser_scan_sensor: {sensor_frame: hokuyo, data_type: LaserScan, topic: /udacity_bot/laser/scan, marking: true, clearing: true}

my_robot/config/global_costmap_params.yaml

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+global_costmap:
+   global_frame: map
+   robot_base_frame: robot_footprint
+   update_frequency: 1.0
+   publish_frequency: 1.0
+   width: 20.0
+   height: 20.0
+   resolution: 0.05
+   static_map: true
+   rolling_window: false

my_robot/config/local_costmap_params.yaml

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+local_costmap:
+   global_frame: odom
+   robot_base_frame: robot_footprint
+   update_frequency: 2.0
+   publish_frequency: 2.0
+   width: 10.0
+   height: 10.0
+   resolution: 0.05
+   static_map: false
+   rolling_window: true

my_robot/launch/amcl.launch

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+<launch>
+
+  <!-- Map Server -->
+  <arg name="map_file" default="$(find my_robot)/maps/RoboOfficeWorldMap.yaml"/>
+  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />
+
+  <!-- AMCL Node -->
+  <node name="amcl" pkg="amcl" type="amcl" output="screen">
+    <!-- <remap from="scan" to="my_robot/laser/scan"/> --> <!-- Not required -->
+    <param name="base_frame_id" value="robot_footprint"/>
+    <param name="global_frame_id" value="map"/>
+
+    <!-- Overall filter -->
+    <param name="initial_pose_x" value="-0.500"/>
+    <param name="initial_pose_y" value="-0.900"/>
+    <param name="initial_pose_a" value="-1.5707"/>
+
+    <param name="min_particles" value="600"/>
+    <param name="max_particles" value="2000"/>
+
+    <param name="update_min_d" value="0.1"/>
+    <param name="update_min_a" value="0.523599"/>
+
+    <!-- Laser -->
+    <param name="laser_min_range" value="-1.0"/>
+    <param name="laser_max_range" value="-1.0"/>
+    <param name="laser_max_beams" value="60.0"/>
+    <param name="laser_z_hit" value="0.95"/>
+    <param name="laser_z_rand" value="0.05"/>
+
+    <!-- Odometry -->
+    <param name="odom_frame_id" value="odom"/>
+    <param name="odom_model_type" value="diff-corrected"/>
+    <param name="odom_alpha1" value="0.01"/>
+    <param name="odom_alpha2" value="0.01"/>
+    <param name="odom_alpha3" value="0.01"/>
+    <param name="odom_alpha4" value="0.01"/>
+  </node>
+
+  <!-- Move Base -->
+  <node name="move_base" pkg="move_base" type="move_base" respawn="false" output="screen">
+    <!-- <remap from="scan" to="my_robot/laser/scan"/> --> <!-- Not required -->
+    <param name="base_global_planner" value="navfn/NavfnROS" />
+    <param name="base_local_planner" value="base_local_planner/TrajectoryPlannerROS"/>
+
+    <rosparam file="$(find my_robot)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
+    <rosparam file="$(find my_robot)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
+    <rosparam file="$(find my_robot)/config/local_costmap_params.yaml" command="load" />
+    <rosparam file="$(find my_robot)/config/global_costmap_params.yaml" command="load" />
+    <rosparam file="$(find my_robot)/config/base_local_planner_params.yaml" command="load" />
+  </node>
+
+</launch>

my_robot/launch/keyboard_teleop.launch

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+<?xml version="1.0" encoding="UTF-8"?>
+
+<launch>
+
+  <node pkg="teleop_twist_keyboard" type="teleop_twist_keyboard.py" name="teleop"/>
+
+</launch>

my_robot/launch/localization.launch

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+<?xml version="1.0" encoding="UTF-8"?>
+
+<launch>
+  <!-- Arguments for launch file with defaults provided -->
+  <arg name="database_path"     default="rtabmap.db"/>
+  <arg name="rgb_topic"   default="/camera/rgb/image_raw"/>
+  <arg name="depth_topic" default="/camera/depth/image_raw"/>
+  <arg name="camera_info_topic" default="/camera/rgb/camera_info"/>  
+
+
+  <!-- Mapping Node -->
+  <group ns="rtabmap">
+    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen">
+
+      <!-- Basic RTAB-Map Parameters -->
+      <param name="database_path"       type="string" value="$(arg database_path)"/>
+      <param name="frame_id"            type="string" value="robot_footprint"/>
+      <param name="odom_frame_id"       type="string" value="odom"/>
+      <param name="subscribe_depth"     type="bool"   value="true"/>
+      <param name="subscribe_scan"      type="bool"   value="true"/>
+
+      <!-- RTAB-Map Inputs -->
+      <remap from="scan" to="/scan"/>
+      <remap from="rgb/image" to="$(arg rgb_topic)"/>
+      <remap from="depth/image" to="$(arg depth_topic)"/>
+      <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
+
+      <!-- RTAB-Map Output -->
+      <remap from="grid_map" to="/map"/>
+
+      <!-- Rate (Hz) at which new nodes are added to map -->
+      <param name="Rtabmap/DetectionRate" type="string" value="1"/>
+
+      <!-- 2D SLAM -->
+      <param name="Reg/Force3DoF" type="string" value="true"/>
+
+      <!-- Loop Closure Detection -->
+      <!-- 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE -->
+      <param name="Kp/DetectorStrategy" type="string" value="0"/>
+
+      <!-- Maximum visual words per image (bag-of-words) -->
+      <param name="Kp/MaxFeatures" type="string" value="400"/>
+
+      <!-- Used to extract more or less SURF features -->
+      <param name="SURF/HessianThreshold" type="string" value="100"/>
+
+      <!-- Loop Closure Constraint -->
+      <!-- 0=Visual, 1=ICP (1 requires scan)-->
+      <param name="Reg/Strategy" type="string" value="0"/>
+
+      <!-- Minimum visual inliers to accept loop closure -->
+      <param name="Vis/MinInliers" type="string" value="15"/>
+
+      <!-- Enable localization mode for the robot -->
+      <param name="Mem/IncrementalMemory" type="string" value="false"/>
+    </node>
+  </group>
+
+  <!-- visualization with rtabmapviz -->
+    <node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
+        <param name="subscribe_depth"             type="bool" value="true"/>
+        <param name="subscribe_scan"              type="bool" value="true"/>
+        <param name="frame_id"                    type="string" value="robot_footprint"/>
+
+        <remap from="rgb/image"       to="$(arg rgb_topic)"/>
+        <remap from="depth/image"     to="$(arg depth_topic)"/>
+        <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
+        <remap from="scan"            to="/scan"/>
+    </node>
+</launch>