azhurb/slam_project

Map My World Robot

Udacity Robotics Nanodegree project.

The goal of the project is to create a 2D occupancy grid and 3D octomap from a provided simulated environment.

Requirements

1. Install depthimage_to_laserscan.

apt-get update && apt-get install ros-kinetic-depthimage-to-laserscan

2. Add the rtabmap_ros package and build.

cd ~/catkin_ws/src && git clone https://github.com/introlab/rtabmap_ros
cd ..
catkin_make

How To Use

1. Launch the gazebo world and the robot.

roslaunch slam_project world.launch world_file:=~/catkin_ws/src/slam_project/worlds/kitchen_dining.world

2. Launch teleop node.

roslaunch slam_project teleop.launch

3. Launch mapping node.

roslaunch slam_project mapping.launch

4. Launch Rviz.

roslaunch slam_project rviz.launch