Udacity Nanodegree: Robotics Software Engineer

Project 04: Map My World

3D Map generated by the database

Grid Map generated by the database

Directory Structure

.RoboND_Map_My_World Inside "catkin_ws/src" # Project 04: Map My World
├── my_robot                                # my_robot package
│   ├── launch
│   │   ├── mapping.launch                  # Launch robot mapping (without rtabmapviz)
│   │   ├── localization.launch             # Launch robot localization (with rtabmapviz)
│   │   ├── robot_description.launch
│   │   ├── world.launch                    # Launch empty world (with rtabmapviz)
│   │   └── teleop.launch                    # Launch empty world (with rtabmapviz)
│   ├── meshes
│   │   └── hokuyo.dae
│   ├── urdf
│   │   ├── my_robot.gazebo
│   │   └── my_robot.xacro
│   ├── worlds
│   │   ├── my.world                        # The world for robot mapping and localization
│   │   └── ...                             # Other worlds I created
│   ├── CMakeLists.txt
│   └── package.xml
├── teleop_twist_keyboard                   # teleop_twist_keyboard package
│   ├── CHANGELOG.rst
│   ├── CMakeLists.txt
│   ├── package.xml
│   ├── README.md
│   └── teleop_twist_keyboard.py
└── CMakeLists.txt

How to run

1. First of all, clone this repo:

git clone https://github.com/HanyuWu/RoboND_Map_My_World

2. Launch the robot inside the world

This can be done by launching world.launch file:

$ cd RoboND_Map_My_World/catkin_ws/
$ catkin_make
$ source devel/setup.bash
$ roslaunch my_robot world.launch

3. Run teleop node

In another terminal:

$ cd RoboND_Map_My_World/catkin_ws/
$ source devel/setup.bash
$ roslaunch my_robot teleop.launch

4. Launch RTAB-Map

In another terminal:

$ cd RoboND_Map_My_World/catkin_ws/
$ catkin_make
$ source devel/setup.bash
$ roslaunch my_robot mapping.launch

4. (optional) Launch Robot Localization

After we got the rtabmap.db, put the db file inside catkin_ws/outputs.

$ cd RoboND_Map_My_World/catkin_ws/
$ catkin_make
$ source devel/setup.bash
$ roslaunch my_robot localization.launch

Download the map first when doing localization.

Localization (yellow frusturm for robot)

Robot Current Position

For reviewers

Please download the rtabmap.db, and put it inside catkin_ws/outputs. Then you can run rtabmap-databaseViewer on the database file.

Database Visualization

Rtab-Mapping

When looking into the loop closures link, we can find Most of the global loop closures are very accurate based on the SURF detector/descriptor.