This project implements rtabmap on Kobuki
ON ROS Master
roslaunch turtlebot_bringup minimal.launch roslaunch turtlebot_teleop keyboard_teleop.launch
roslaunch realsense2_camera rs_d400_and_t265.launch
for mapping roslaunch realsense2_camera rs_d400_and_t265.launch
for navigation
rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/d400/depth/image_rect_raw camera_info:/d400/depth/camera_info roslaunch turtlebot_navigation amcl_d400_t265.launch map_file:=/home/nvidia/map_study.yaml
On Client roslaunch turtlebot_rviz_launchers view_navigation.launch --screen http://wiki.ros.org/turtlebot_navigation/Tutorials/Autonomously%20navigate%20in%20a%20known%20map
save map rosrun map_server map_saver map:=/occupancy -f map_home
Gmapping
roslaunch turtlebot_bringup minimal.launch roslaunch turtlebot_teleop keyboard_teleop.launch roslaunch realsense2_camera rs_rgbd.launch
rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/camera/depth/image_rect_raw camera_info:/camera/depth/camera_info roslaunch turtlebot_navigation gmapping_demo_d400.launch
rosrun map_server map_saver -f map roslaunch turtlebot_navigation amcl_d400_t265.launch map_file:=/home/nvidia/map.yaml On Client roslaunch turtlebot_rviz_launchers view_navigation.launch --screen
RTABMAp roslaunch rtab_nav rtab_nav.launch args:="--delete_db_on_start" rosrun map_server map_saver map:=/rtabmap/proj_map –f my_map_1
Install cd to src run catkin_init_worspace run sudo apt-get install ros-kinetic-tf2-bullet run sudo apt-get install ros-kinetic-rtabmap-ros sudo apt-get install ros-kinetic-kobuki sudo apt-get install ros-kinetic-navigation sudo apt-get install ros-kinetic-rgbd_launch run catkin_make run catkin_make install
roslaunch turtlebot_bringup minimal.launch roslaunch rtab_nav rtab_nav_multicam.launch
sudo apt install ros-${ROS_DISTRO}-multirobot-map-merge ros-${ROS_DISTRO}-explore-lite roslaunch explore explore_costmap.launch