ROS SLAM Demo

A simple demonstration of Simultaneous Localization and Mapping (SLAM) using ROS and Gazebo simulator.

Description

Algorithm : Grid-Based FastSLAM (from slam-gmapping)
Robot : TurtleBot3 Burger (from turtlebot3)
Sensor : 360 Laser Distance Sensor LDS-01
Environment : Custom

Prerequisites

ROS Noetic
Rviz 1.14.7
Gazebo 11.5
ROS Noetic TurtleBot3 : sudo apt install ros-noetic-turtlebot3-*

Usage

Setup catkin workspace :

mkdir -p /home/<username>/workspace/catkin_ws/src
cd catkin_ws/src/
catkin_init_workspace
cd ..
catkin_make

Clone the repo packages :

cd /home/<username>/workspace/catkin_ws/src
git clone https://github.com/DarkGeekMS/ros-slam-demo.git

Build and source the packages :

cd /home/<username>/workspace/catkin_ws
catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3
source devel/setup.bash

Source TurtleBot3 model to ~/.bashrc :

echo 'export TURTLEBOT3_MODEL=burger' >> ~/.bashrc
source ~/.bashrc

Run the required packages for the demo :

# Terminal 1 (ROS Master Node)
roscore

# Terminal 2 (TurtleBot3 Gazebo Simulation)
cd /home/<username>/workspace/catkin_ws
source devel/setup.bash
roslaunch turtlebot3_gazebo turtlebot3_world.launch

# Terminal 3 (TurtleBot3 GMapping SLAM)
cd /home/<username>/workspace/catkin_ws
source devel/setup.bash
roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping

# Terminal 3 (TurtleBot3 Teleoperation)
cd /home/<username>/workspace/catkin_ws
source devel/setup.bash
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

Alternatively, you can run the demo using a single launch file [SLOWER] :

cd /home/<username>/workspace/catkin_ws
source devel/setup.bash
roslaunch turtlebot3_gazebo turtlebot3_slam_demo.launch

Save the output map :
```
rosrun map_server map_saver -f OutMap
```

Used Packages

turtlebot3_gazebo : for TurtleBot3 Gazebo simulation.
turtlebot3_slam : a wrapper for slam_gmapping package to perform SLAM on TurtleBot3.
slam_gmapping : for Grid-Based FastSLAM using ROS openslam_gmapping SLAM library.
turtlebot3_teleop : for controlling a robot through external peripheral (used to navigate the robot during SLAM).

Visual Results

Figure(1): World in Gazebo simulator.

Figure(2): A 3D view of TurtleBot3 in Gazebo simulator.

Figure(3): A view of a portion of result occupancy grid map (OGM) in Rvis.