Map My World

This project aims to perform mapping using RGB-D based RTAB-Map (Real-Time Appearance-Based Mapping) Algorithm.

Robot mapping the environment

Directory Tree

.Map My World                                     # Map My World  Project
├── assets                                        # simulation media
│   ├── mapinspection.png
│   ├── Rviz.gif
│   ├── Rviz.mp4
│   └── SimulatedEnvironment.jpg
├── Readme.md                                     # project info
├── robot_mapping                                 # robot_mapping package
│   ├── CMakeLists.txt                            # compiler instructions
│   ├── launch                                    # launch folder for launch files
│   │   ├── floorplan.launch
│   │   ├── localization.launch
│   │   ├── mapping.launch
│   │   └── robot_description.launch
│   ├── meshes                                    # meshes folder for sensors
│   │   ├── bases
│   │   │   └── burger_base.stl
│   │   ├── hokuyo.dae
│   │   ├── kinect.dae
│   │   ├── kinect.png
│   │   ├── sensors
│   │   │   ├── astra.dae
│   │   │   ├── astra.jpg
│   │   │   ├── lds.stl
│   │   │   ├── r200.dae
│   │   │   └── r200.jpg
│   │   └── wheels
│   │       ├── left_tire.stl
│   │       └── right_tire.stl
│   ├── package.xml                               # package info
│   ├── rtabmap.db                                # .db file for inspecting the created map
│   ├── urdf                                      # urdf folder for xarco files
│   │   ├── common_properties.xacro
│   │   ├── my_robot.gazebo
│   │   └── turtlebot3_burger.urdf.xacro
│   └── worlds                                    # world folder for world files
│       ├── model.config
│       ├── model.sdf
│       ├── model.world
│       └── office.world
└── rtabmap_ros                                   # rtabmap_ros package (subfolders not included)

95 directories, 455 files

Simulated Environment

To implement the project create a simulation environment such that it is easy to extract features for the robot.

Simulated Environment

Prerequisites

For this project following packages are required.

• rtabmap_ros package

• teleop_twist_keyboard package

The rtabmap_ros package should be built from source. In case of errors please check Migration Guide New Interface Noetic/ROS2 and make changes to the mapping.launch file accordingly.

Launch the Project

To launch the project, clone the github repository under src folder is your ros workspace by

git clone https://github.com/navoday01/Map-My-World.git

Clone the teleop_twist_keyboard and rtabmap_ros package.

launch the robot in the environment to simulate in Gazebo by

roslaunch robot_mapping floorplan.launch

Open another terminal to run teleop twist keyboard package by

roslaunch robot_mapping teleop.launch

Mapping

To map the environment in RTAB-Map, open a new terminal and run

roslaunch robot_mapping mapping.launch

Go to the teleop terminal and start navigating the robot around your environment which will result in the 3D and 2D mapping.

3D pointcloud created during mapping

2D occupancy grid created during mapping

Inspecting Simulated Environment

To inspect the generated map, run

rtabmap-databaseViewer ~/robot_mapping/rtabmap.db

Inspecting Created Environment

Localization

If map already exists, localization can be performed by running

roslaunch robot_mapping localization.launch