Tested with Intel Realsense D435i stereo camera. Capable of localizing in GPS denied environment while building a 3-D map of the surrounding.
- First install ROS Kinetic in your system following this guide, prefer Ubuntu 16.04
- Install additional libraries
sudo apt-get install ros-kinetic-octomap-ros
- If you are using Intel Realsense install SDK and driver first from here
- Setup your workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/da-piyushpatel/slam-octomap.git
cd ~/catkin_ws
catkin build
echo "~/catkin_ws/devel/setup.bash"
The realsense camera is provided with accelerometer and gyroscope, using this algorithm onc can find out cmaera's orientation in 3D space
roslaunch realsense2_camera rs_camera.launch unite_imu_method:=copy filters:=pointcloud
rosrun imu_filter_madgwick imu_filter_node _use_magnetic_field_msg:=false _publish_debug_topics:=true
- To know more about the codes and this project see the attached SURGE_report.pdf