Project 4: Map My World

An application of rtabmap-ros package for simultaneous localization and mapping (SLAM) of a mobile robot. This project is part of Udacity Robotics Software Engineer Nanodegree.

3D Map	2D Map
Occupancy Grid	Detected Features

Description

The project consists of the following parts:

1. A Gazebo world and a mobile robot from this project.
2. ROS package: rtabmap-ros

Prerequisites

1. ROS (Melodic or Kinetic), Gazebo on Linux
2. CMake & g++/gcc
3. Install rtabmap-ros package $ sudo apt-get install ros-${ROS_DISTRO}-rtabmap-ros

Build and Launch

1. Clone project and initialize a catkin workspace

$ mkdir catkin_ws && cd catkin_ws
$ git clone https://github.com/huuanhhuynguyen/RoboND-Map-My-World.git
$ mv RoboND-Map-My-World src
$ cd src && catkin_init_workspace

2. Within the catkin_ws/src folder, clone the teleop project

$ git clone https://github.com/ros-teleop/teleop_twist_keyboard

3. Move back to catkin_ws\ and build

$ cd ..
$ catkin_make

4. Launch the world and robot

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

5. Open another terminal (Ctrl+Shift+T), and launch the mapping.launch file. Here, the rtabmap-ros package will be launched.

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

6. Open another terminal, and run the teleop node.

$ source devel/setup.bash
$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py

7. Click on this terminal, type keyboard to navigate the robot around. Navigate the robot to scan its surrounding environment. The rtabmap-ros package will save the resulted map with the localized trajectory of the robot in a database file ~/.ros/rtabmap.db.

8. Open another terminal, and open up the database file using rtabmap-databaseViewer

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