BUCK- AUTONOMOUS MOBILE ROBOT FOR DEPTH-CAM AND 2D LIDAR MAPPING ,NAVIGATION

OS: UBUNTU 22.04

ROS DISTRO: HUMBLE

Humble installation link::https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html

Packages needed:

    sudo apt install ros-humble-xacro
    sudo apt install python3-colcon-common-extensions
    sudo apt install ros-humble-joint-state-publisher-gui
    sudo apt install ros-humble-gazebo-ros-pkgs
    sudo apt install ros-humble-rtabmap-*

Clone this repo in your ros2 work directory using,

        git clone https://github.com/FERBIN12/Buck_ws.git

Then build the package in your workspace ,

        colcon build --symlink-install

ROBOT with 2 depth camera LAUNCHING COMMAND:

In terminal 1:

ros2 launch model_py launch_sim.launch.py                        

Output:

RTABMAP:

.RTAB-Map (Real-Time Appearance-Based Mapping) is a powerful ROS package designed for real-time 3D environment mapping and localization. Specifically tailored for depth cameras and 2D lidar mapping, RTAB-Map integrates sensory data to create detailed, dynamic maps .It utilizes visual features for loop closure detection, improving map consistency over time. This package is crucial for autonomous systems, providing a comprehensive solution for mapping, navigation, and localization in various environments.

In one terminal 2:

        ros2 launch model_py twodepth.launch.py

In terminal 3 :

Teleoperation: Teleoperation allows users to remotely control the Buck autonomous mobile robot equipped with 2 depth cameras, enabling seamless navigation and interaction within its environment using the teleop_twist_keyboard package in ROS2.

        ros2 run teleop_twist_keyboard teleop_twist_keyboard 

The result obtained post-mapping.: