/RoboND-Map-My-World

Project 4 - Udacity Robotics Software Engineer Nanodegree Program

Primary LanguageCMake

Project 4: Map My World

An application of rtabmap-ros package for simultaneous localization and mapping (SLAM) of a mobile robot. This project is part of Udacity Robotics Software Engineer Nanodegree.

3D map
3D Map

2D map
2D Map

occupancy grid
Occupancy Grid

features
Detected Features

Description

The project consists of the following parts:

  1. A Gazebo world and a mobile robot from this project.
  2. ROS package: rtabmap-ros

Prerequisites

  1. ROS (Melodic or Kinetic), Gazebo on Linux
  2. CMake & g++/gcc
  3. Install rtabmap-ros package $ sudo apt-get install ros-${ROS_DISTRO}-rtabmap-ros

Build and Launch

  1. Clone project and initialize a catkin workspace
$ mkdir catkin_ws && cd catkin_ws
$ git clone https://github.com/huuanhhuynguyen/RoboND-Map-My-World.git
$ mv RoboND-Map-My-World src
$ cd src && catkin_init_workspace
  1. Within the catkin_ws/src folder, clone the teleop project
$ git clone https://github.com/ros-teleop/teleop_twist_keyboard
  1. Move back to catkin_ws\ and build
$ cd ..
$ catkin_make
  1. Launch the world and robot
$ source devel/setup.bash
$ roslaunch my_robot world.launch
  1. Open another terminal (Ctrl+Shift+T), and launch the mapping.launch file. Here, the rtabmap-ros package will be launched.
$ source devel/setup.bash
$ roslaunch my_robot mapping.launch
  1. Open another terminal, and run the teleop node.
$ source devel/setup.bash
$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py

  1. Click on this terminal, type keyboard to navigate the robot around. Navigate the robot to scan its surrounding environment. The rtabmap-ros package will save the resulted map with the localized trajectory of the robot in a database file ~/.ros/rtabmap.db.

  2. Open another terminal, and open up the database file using rtabmap-databaseViewer

$ rtabmap-databaseViewer ~/.ros/rtabmap.db
  • Choose View -> Constraints View and Graph View
  • To see 3D Map, Choose Edit -> View 3D Map ...

You could also open the database I already generated in this project. The number of loop closures can be found in overview.png.