Udacity Nanodegree: Robotics Software Engineer

Project 04: Map My World

Directory Structure

.                                           # Project 04: Map My World
├── ball_chaser                             # ball_chaser package
│   ├── launch
│   │   └── ball_chaser.launch
│   ├── src
│   │   ├── drive_bot.cpp
│   │   └── process_image.cpp
│   ├── srv
│   │   └── DriveToTarget.srv
│   ├── CMakeLists.txt
│   └── package.xml
├── my_robot                                # my_robot package
│   ├── config
│   │   ├── base_local_planner_params.yaml  
│   │   ├── costmap_common_params.yaml
│   │   ├── global_costmap_params.yaml
│   │   └── local_costmap_params.yaml
│   ├── launch
│   │   ├── amcl.launch
│   │   ├── robot_description.launch
│   │   └── world.launch
│   ├── maps
│   │   ├── MyWorld.pgm
│   │   └── MyWorld.yaml
│   ├── meshes
│   │   └── hokuyo.dae
│   ├── urdf
│   │   ├── my_robot.gazebo
│   │   └── my_robot.xacro
│   ├── worlds
│   │   ├── empty.world
│   │   └── MyWorld.world
│   ├── CMakeLists.txt
│   └── package.xml
├── teleop_twist_keyboard                   # teleop_twist_keyboard package
│   ├── CHANGELOG.rst
│   ├── CMakeLists.txt
│   ├── package.xml
│   ├── README.md
│   └── teleop_twist_keyboard.py
└── CMakeLists.txt -> /opt/ros/kinetic/share/catkin/cmake/toplevel.cmake

How to run

1. First of all, clone this repo:

git clone --recursive https://github.com/milan-r-shah/RoboND_Map_My_World.git

2. Launch the robot inside your world

This can be done by launching world.launch file:

$ cd RoboND_Map_My_World/catkin_ws/
$ catkin_make
$ source devel/setup.bash
$ roslaunch my_robot world.launch

3. Run teleop node

$ cd RoboND_Map_My_World/catkin_ws/
$ source devel/setup.bash
$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py

4. Launch RTAB-Map

This can be done by launching mapping.launch file:

$ cd RoboND_Map_My_World/catkin_ws/
$ catkin_make
$ source devel/setup.bash
$ roslaunch my_robot mapping.launch