Map my World

This is a project where a robot maps its environment using rtabmap

This project uses the robot and environment models found here. It uses ros rtabmap_ros.

Requirements

• Tested on ROS at Ubuntu 20.04 and 16.04.
• Required ROS packages:

$ sudo apt-get install ros-noetic-rtabmap-ros
$ sudo apt-get install ros-noetic-teleop_twist_keyboard

Running

1. Clone this package to your <ROS_workspace/src>
2. Compile:

$ catkin_make

3. Launch world:

$ roslaunch my_robot world.launch

3. Launch localization:

$ roslaunch my_robot mapping.launch

4. Start rviz and add a RobotModel and map subscribed to topic /map.

$ rviz

The robot should start creating a map of the environment:

5. Control the robot with your keyboard

$ rosrun rosrun teleop_twist_keyboard teleop_twist_keyboard.py

Traverse de environment with a low speed. Try to stick to the same path and do 3 loops.

4. Close everyhting and visualize the created map. (map is saved at ``/home/.ros/rtabmap.db)

$ rtabmap-databaseViewer ~/.ros/rtabmap.db

Click Ok if prompted to use database parameters.

Add the follwing visualizations:

• view -> Graph View (At the bottom you can see the global links. If you map has 5 or more, its a good map)

5. To view the 3D point cloud:

• Edit->View 3D Map.
• Leave everything as default and click OK.
• After processing:

Meta

• Luis M. - GitHub

Distributed under the MIT License. See LICENSE for more information.

This project was developed for the Robotics Software Engineer nanodegree at Udacity.