allarobot / robot_SLAM

SLAM examples

Robot SLAM

Introduction

a robot with RGBD camera and lidar, which can generate map during robot movement.

Pre-requisites

1. ROS-kinectic

Install

step 1. install a package of robot and world configuration

mkdir -p <workspace_name>/src
cd <workspace_name>/src
catkin_init_workspace
git clone https://github.com/Jay9z/robot_SLAM.git code
mv code/* ./
cd ..
catkin_make

step 2. install RTAB package

git clone -b devel https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
mv src/mapping.launch src/rtabmap_ros/launch/
catkin_make

step 3. install a package of robot teleop

git clone https://github.com/ros-teleop/teleop_twist_keyboard.git src/teleop_twist_keyboard
mv src/mapping.launch src/teleop_twist_keyboard/
catkin_make

How to use it

Open a terminal

cd <workspace_name>
source devel/setup.bash
roslaunch my_robot world.launch

Open the second terminal

cd <workspace_name>
source devel/setup.bash
roslaunch rtabmap_ros mapping.launch

Open the third terminal

cd <workspace_name>
source devel/setup.bash
rosrun teleop_twist_keyboard teleop_twist_keyboard.py

Test it

1. Use keyboard to manipulate robot around simulation enviornment
2. Evaluate map with rtabmap-databaseViewer