The project report can be found here
This project implements the Simultaneous Localization and Mapping (SLAM) using the ROS package rtabmap. The paper discusses the concept of graph slam, the features of rtabmap and how the rtabmap package was used to generate the map of the environment. Furthermore, the paper describes how to create an environment in gazebo. The difficulties in using rtabmap, the mapping results of the provided environment and the newly created environment are explained. In the end, various possible applications of rtabmap for SLAM are discussed.