NDeshmukh516/Occupancy_Grid_SLAM

Implentation of Occupancy Grid based Simultaneous Localization and Mapping (SLAM) using the Hector quadrotor package in ROS. All scripts were written in Python.

Occupancy Grid SLAM using Hector

by Anthony Ambrose and Nikhil Deshmukh

1. Setup ROS Kinetic on Ubuntu 16.04. Follow alternate instructions to install updated version of Gazebo, at http://gazebosim.org/tutorials?cat=install&tut=install_ubuntu&ver=7.0

2. Download the hector_quadrotor ROS package for ROS Kinetic with the instructions found at https://darienmt.com/autonomous-flight/2018/10/20/flying-ros-and-hector.html

To install, follow:

wstool init src https://raw.github.com/tu-darmstadt-ros-pkg/hector_quadrotor/kinetic-devel/tutorials.rosinstall
sudo apt-get install ros-kinetic-geographic-info
sudo apt-get install ros-kinetic-ros-control
sudo apt-get install ros-kinetic-gazebo-ros-control
sudo apt-get install ros-kinetic-joy
sudo apt-get install ros-kinetic-move-base
sudo apt-get install ros-kinetic-octomap_server
sudo apt-get install ros-kinetic-octomap-ros
sudo apt-get install ros-kinetic-octomap
sudo apt-get install ros-kinetic-teb-local-planner
sudo apt-get install ros-kinetic-pointcloud-to-laserscan
sudo apt-get install ros-kinetic-ros-numpy
catkin_make
source devel/setup.bash 

3. The scripts in this project requires numpy, rospy, math, tf2_ros, all of which can be installed using the pip/pip3 command in the terminal.

4. To launch the X-Y mapping script:

roslaunch drone_slam SlamExploreIndoors.launch rosrun drone_slam explorer.py

5. To launch the Z-axis mapping script, rename molten_coreELEVATE to molten_core, and rename molten_core to a different name.

roslaunch drone_slam SlamElevation.launch rosrun drone_slam explorer.py

The only difference between the launch files is the kind of map it opens up, with the elevation launch file being a vertical tower to demonstrate Z-axis mapping.