lidar-slam-and-exploration

A turtlebot3 simulation ros packages to perform Simultaneous Localisation and Mapping (SLAM) of an unknown environment with frontier exploration and opencv object detection.

Dependencies

This ROS package is created for Ubuntu Xenial (16.04) + ROS Kinetic Kame.

Please install catkin_tools to use 'catkin build' insteat of 'catkin make'

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install python-catkin-tools

Installation

mkdir -p ~/catkin_ws/src
cd catkin_ws/src
git clone https://github.com/UTSAnonymous/lidar-slam-and-exploration.git
cd ..
catkin build
source devel/setup.bash

Setting up

Before running the simulation, make sure we specify the model name of the turtlebot3 (burger, waffle or waffle_pi). Run the command below before roslaunch any of the launch file.

export TURTLEBOT3_MODEL=${TB3_MODEL}

If you want to permanently set the export settings follow the instruction below:

gedit ~/.bashrc

Add either one of the three selection into bashrc:

export TURTLEBOT3_MODEL=burger
export TURTLEBOT3_MODEL=waffle
export TURTLEBOT3_MODEL=waffle_pi

source ~/.bashrc

Getting RVIS up

roslaunch turtlebot3_gazebo turtlebot3_gazebo_rviz.launch

Stage 1: Mapping using gmapping and teleoperation

Start the simulation (choose either one)

roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch
roslaunch turtlebot3_gazebo turtlebot3_world.launch
roslaunch turtlebot3_gazebo turtlebot3_house.launch

Start teleop for turtle bot

To enable teleoperation on Gazebo

roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

Start turtlebot gmapping

roslaunch turtlebot3_slam turtlebot3_slam.launch

Map the entire world manually
Saving the map

rosrun map_server map_saver