onurbagoren / slam

Map My World: Udacity RSE Project

Onur Bagoren

Description

The aim of this project is to use RTAB-Map in order to simulate the simultaneous localization and mapping (SLAM) with in an unknown environment that was built and simulated in a Gazebo environment.

Setup

Installation

If the catkin_ws does not exists:

1. cd ~
2. mkdir -p catkin_ws/src; cd catkin_ws/src
3. catkin_init_workspace
4. cd ../; catkin_make
5. cd src
6. git clone [e-mail]:onurbagoren/slam.git

Execution

Open 3 tabs from the terminal. Initially run cd ~/catkin_ws; source devel/setup.bash on each tab. On the first tab: roslaunch slam mapping.launch On the second tab: roalaunch slam worl.launch

These two tabs will start up 3 windows: RVix, Gazebo and RTAB-Map

In order to drive the robot, on the third tab: roslaunch slam teleop.launch

Screenshot of SLAM