/slam_demo

SLAM on turtlebot using kinect to generate 3D Occupancy Grids (Octomap)

SLAM DEMO

Dependencies

```
    sudo apt-get install ros-$ROS-DISTRO$-turtlebot-gazebo ros-$ROS-DISTRO$-turtlebot-rviz-launchers ros-$ROS-DISTRO$-turtlebot-simulator
```

Install

```
    cd catkin_ws/src
	git clone https://github.com/ShibataLab/Turtlebot-SLAM-Demo
	roscd catkin_ws
	catkin_make
	source devel/setup.bash
```

Run

*In terminal,
```
	roscore
```
*Switch to new tab,
```
    source devel/setup.bash
	roslaunch turtlebot_gazebo turtlebot_world.launch		
```
this will launch gazebo window. 

*Switch to new tab
```
    source devel/setup.bash
	roslaunch slam_demo mapServer.launch
```

*Switch to a new terminal window and make it always on the top
```
    source devel/setup.bash
	roslaunch turtlebot_telop keyboard_teleop.launch
```

To visualize

*Switch to a new tab
```
    source devel/setup.bash
	rosrun rviz rviz
```	
set frame:= /odom and display "occupancygrid" topics subscribed to := /octomap_full