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Map My World

Robo Nano Degree: SLAM project

Using the robot and world from previous projects this one adds SLAM mapping to map an unknown environment. Includes the RTABMAP ROS package found here: http://wiki.ros.org/rtabmap_ros

To run, setup three terminals and run the following in each

  1. cd catkin_ws
  2. catkin_make
  3. source devel/setup.bash

Mapping

Run in separate terminals

  1. roslaunch my_robot world.launch
  2. roslaunch my_robot teleop.launch
  3. roslaunch my_robot mapping.launch

Drive the robot around the environment with the teleop terminal until the robot has gone through the full environment and has found a minimum of 3 loop closures.

The database will be located in

/root/.ros/

Use rtabmap-databaseViewer to analyze the map data

rtabmap-databaseViewer /root/.ros/rtabmap.db

Localization

Run in separate terminals

  1. roslaunch my_robot world.launch
  2. roslaunch my_robot teleop.launch
  3. roslaunch my_robot localization.launch

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