Dependencies
The robot uses the rtabmap_ros ROS package, that can be installed through apt-get.
Make sure you have all deps in your system running: rosdep -i install rtabmap_ros.
Follow the instructions here, depending on your ros version: [http://wiki.ros.org/rtabmap_ros]
Clone repo
Once you've created your catkin_ws workspace, inside src folder, clone this repo:
cd ~/catkin_ws/src/
git clone https://github.com/diegoavillegasg/mapping-a-world
Build Package
Standing out in catkin_ws folder, build the package:
cd ~/catkin_ws
catkin_make
Load current workspace variables
source dev/setup.bash
Launching ROS nodes
To start environment:
roslaunch my_robot world.launch
To launch the teleop node:
roslaunch my_robot teleop.launch
To launch SLAM node in mapping mode:
roslaunch my_robot mapping.launch
In folder maps you can find two maps created for this environment.
Because of files oversized the limit of github, please download them from the following links:
rtabmap.db [https://www.dropbox.com/s/le8ysgcfrxtdts9/rtabmap.db?dl=0]
rtabmap1.db [https://www.dropbox.com/s/mwb76rlkmjc06g8/rtabmap1.db?dl=0]
Using rtabmap.db file
Using rtabmap1.db file
