Map My World

The goal of this project is that robot moving indoors, mapping the surroundings and localizing itself using ROS pkg rtabmap_ros pkg which is a ROS wrapper (API) for interacting with rtabmap to generate a 2D occupancy grid and 3D octomap from a provided simulated environment with best solution for (SLAM) to develop mobile robots. RTAB-Map lead to a solid foundation for mapping and localization well.

2D Map and 3D Map

Occupancy_Grid_Mapping

This project is intended to be completed in the Udacity Workspace or on Jetson TX2 and might encounter performance issue on personal laptop or the VM.

Because RTAB-Map 's speed and memory management for information analysis and the quality of the documentation.

Project Setup

To begin, several ROS packages need to be installed as dependencies:

$ sudo apt-get update && sudo apt-get upgrade -y
$ sudo apt-get install ros-kinetic-rtabmap-ros
$ sudo apt-get install ros-kinetic-teleop-twist-keyboard

With the dependencies installed, download/clone the repository, navigate up to the root level directory, and execute:

$ catkin_make
$ source devel/setup.bash
$ roslaunch my_robot world.launch

To operate the robot via the keyboard, open a second terminal, navigate to the root level directory, and execute:

$ source devel/setup.bash
$ roslaunch my_robot teleop_twist.launch

You can then command the robot to move using the keys indicated by the teleop node.

Finally, to run SLAM, open a third terminal, navigate to the root level directory, and execute:

$ source devel/setup.bash
$ roslaunch my_robot Mapping.launch

As you move the robot around, RTAB-Map will build a map of the room. When you terminate the mapping window, the map will be saved as a database file in the launch folder. To view the map, execute: $ rtabmap-databaseViewer rtabmap_gloable.db

• Choose View -> Constraints View and Graph View
• To see 3D Map, Choose Edit -> View 3D Map.

You could also open the database I already generated in this project. The number of loop closures can be found in overview.png.

In order to get a loop closure in this project

• you have to drive your robot with low velocity while moving in a straight line and a little bit when you spinnig (rotating).

• increasing the number of your features in your Env.

• beside tuning the rtabmap-pkg