Rtab Map World
Based on previous WhereAmI Robot
This one uses rtabmap to do SLAM
Screenshots
Images can be found under /images/rtabmap. With rtabmap I made just 2:
Build
To build just run
catkin_make
In the main directory. That should create devel directory. So then source devel/setup.bash
(or .zsh
if that's your fancy ;) ).
Run - Mapping
In order to run:
- start the world -
roslaunch my_robot world.launch
- start the teleop
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
- start localization with rtabmap
roslaunch my_robot mapping.launch
- drive robot with keyboard on teleop
Have fun !