tehnanmanna / slam_rosmelodic_ws

ROS Melodic Workspace

This ROS melodic workspace is for testing various SLAM methods(Gmapping, Karto, Hector, Cartographer etc).

Table of content

• Installation
• Package description
• Helper scripts
• Team
• Contributing
• FAQ
• Support
• License
• Acknowledgments

---

Installation

All the code required to get started

• Prerequisite

  • You should have ROS melodic on your ubuntu 18.04.
  • All ROS dependency is satisfied.

• Clone

  git clone https://github.com/iamrajee/slam_rosmelodic_ws.git
  

• Setup

  cd slam_rosmelodic_ws/
  ./refresh.sh
  make
  

---

Package description

• test_slam

  Mapping

  To do mapping run slam.launch file along with telop. Also, you can which slam_method to use among [Gmapping, Karto, Hector, Cartographer].

  Run

  Terminal 1: roslaunch test_slam slam.launch slam_method:=gmapping          #here gmapping is default
  

  Terminal 2: roslaunch test_slam teleop.launch
  

  Navigation

  After mapping you can run navigation by running navigation.launch file.

  Run

  Terminal: roslaunch test_slam navigation.launch
  

---

Helper Scripts

• refresh.sh

  #!/bin/bash
  source /opt/ros/melodic/setup.bash
  source devel/setup.bash
  clear
  

  It will source the workspace after buiding workspace or after creating new pkg. Run it as ./refresh.sh

• makefile

  SHELL=/bin/bash
  all:
      make run
  run:
      catkin_make
      bash refresh.sh
  

  It will build the workspace . Run it as make

• createpkg.sh

  #!/bin/bash
  cd src/
  catkin create $1
  cd ../
  make
  source refresh.sh
  

  It will create new package . Run it as ./createpkg.sh newpkg_name

• tftree.sh

  #!/bin/bash
  rosrun rqt_tf_tree rqt_tf_tree
  

  It will launch the gui to visvualise the tf tree. Run it as ./tftree.sh

• printenv.sh

  #!/bin/bash
  printenv | grep -i ROS
  

  It will print the ROS related environment variable . Run it as ./printenv.sh

• rosdep.sh

  sudo rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
  

  It will install dependencies of all pkg in the workspace. Run it in the workspace as ./rosdep.sh

• ssh_into_another_computer.sh

  #!/bin/bash
  ssh rajendra@rajendra
  

  It will ssh into another system. Useful when using multiple ros masters. Run it as ./rajendra.sh

---

Team

Or Contributors/supporters/mentors/guides who helped me out in these projects.

Abhinand A S	Sachin Rustagi	Swami Prasad

---

Contributing

To get started...

Step 1

• Option 1

  • 🍴 Fork this repo!

• Option 2

  • 👯 Clone this repo to your local machine using https://github.com/iamrajee/slam_rosmelodic_ws.git

Step 2

• HACK AWAY! 🔨🔨🔨

Step 3

• 🔃 Create a new pull request using https://github.com/iamrajee/slam_rosmelodic_ws/compare/.

---

FAQ

• I ran into some issue while running above package, what to do now?
  • Simply contact me!

---

Support

Reach out to me for any help!

	Name : Rajendra Singh Email : [e-mail] Web : https://iamrajee.github.io/ LinkedIn : https://www.linkedin.com/in/rajendra-singh-6b0b3a13a/ Twitter: @i_am_rajee

---

License

• MIT license
• Copyright (c) 2019 Rajendra Singh.

---

Acknowledgments

• Hat tip to anyone whose code was used and thanks to everyone who inspired and supported me in this project.