RoboticsND: Project #4

This repository contains the files for Udacity's Robotics Nanodegree's Fourth Project.

Find Udacity's Robotics Software Engineering Nanodegree here.

Project Requirements

• Simulate previous robot inside a simulation world
• Set up RTAB-Map (Real-Time Appearance Based Mapping)
• Map the simulation environment
• Setup RGB-D camera inside Gazebo
• Create mapping.launch and localization.launch files
• Control robot using teleop
• Build mapping database found here

The requirements of this project were met as approved by Udacity's reviewers.

Screenshots

Find the following images showing the a few details of the project.

Fig.1 - Robot inside Gazebo simulation environment

Fig.2 - Initial launching of mapping.launch file

Fig.5 - 3D Map inside RTAB-Map DB viewer

Fig.6 - Final Map

Credits

This project was fully done by myself.