FYP Project

Build and Installation

  1. In a catkin workspace execute the following commands
cd catkin_ws/src
git clone https://github.com/ros-geographic-info/unique_identifier.git
git clone https://github.com/ros-geographic-info/geographic_info.git
  1. Build the workspace
cd ..
catkin_make
  1. Clone the following again
cd src/
git clone https://github.com/RAFALAMAO/hector-quadrotor-noetic.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs
git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
  1. Repeat Step 2

Basic Simulation Setup

  • Append these following commands in the bashrc
source path_to_workspace/devel/setup.bash
export TURTLEBOT3_MODEL=burger
  • For launching turtlebot and drone together in an environment
roslaunch hector_quadrotor_gazebo quadrotor_empty_world.launch

Installing RTAB

  1. Install RTAB-Map standalone libraries. Do not clone in your Catkin workspace.
cd ~
git clone https://github.com/introlab/rtabmap.git rtabmap
cd rtabmap/build
cmake ..
make -j6
sudo make install
  1. Install RTAB-Map ros-pkg in your src folder of your Catkin workspace.
cd ~/catkin_ws/src
git clone https://github.com/introlab/rtabmap_ros.git 
catkin_make -j4

Use catkin_make -j1 if compilation requires more RAM than you have (e.g., some files require up to ~2 GB to build depending on gcc version).

Running RTAB Mapping

Launch the following in different terminals

roslaunch hector_quadrotor_demo outdoor_flight_gazebo.launch
rosrun hector_ui ui_hector_quad.py
roslaunch rtabmap_ros rgbd_mapping.launch