/rtab_map_world

Example use of GraphSLAM/rtabmap in a simple project

Primary LanguageCMakeMIT LicenseMIT

Rtab Map World

Based on previous WhereAmI Robot

This one uses rtabmap to do SLAM

Screenshots

Images can be found under /images/rtabmap. With rtabmap I made just 2:

  • In progress
  • Done

Build

To build just run

catkin_make

In the main directory. That should create devel directory. So then source devel/setup.bash (or .zsh if that's your fancy ;) ).

Run - Mapping

In order to run:

  1. start the world - roslaunch my_robot world.launch
  2. start the teleop rosrun teleop_twist_keyboard teleop_twist_keyboard.py
  3. start localization with rtabmap roslaunch my_robot mapping.launch
  4. drive robot with keyboard on teleop

Have fun !