RoboND-Map-My-World-Robot

Udacity Robotics Software Engineer Nanodegree Term 2 Project: Map My World:

RTAB-Map 's speed and memory management is the best solution for SLAM to develop robots and map environments in 3D for information analysis and the quality of the documentation. Being able to leverage RTAB-Map with our own robots will lead to a solid foundation for mapping and localization well. For this project, we will use the rtabmap_ros package, which is a ROS wrapper (API) for interacting with rtabmap. 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. If working on Jetson TX2, you could use jetson_clocks.sh script in the home folder to speed it up!

Running the Scripts

Create folder and Load model:

mkdir ~/.gazebo
curl -L https://s3-us-west-1.amazonaws.com/udacity-robotics/Term+2+Resources/P3+Resources/models.tar.gz | tar zx -C ~/.gazebo/

Run the following commands below in separate terminals:
Launch the world in Gazebo:

catkin_make
source devel/setup.bash 
roslaunch slam_project world.launch world_file:=~/catkin_ws/src/slam_project/worlds/kitchen_dining.world

Launch the teleop node for keyboard control:

catkin_make
source devel/setup.bash 
roslaunch slam_project teleop.launch 

Launch the RTAB-Map mapping node

catkin_make
source devel/setup.bash 
roslaunch slam_project mapping.launch

Launch the RViz GUI:

catkin_make
source devel/setup.bash 
roslaunch slam_project rviz.launch

Or use rtab_run script

cd /home/workspace/catkin_ws
source devel/setup.bash
cd src/slam_project/scripts
./rtab_run

RTAB-Map Visualization Tools - Databse Viewer

• After stop mapping.launch in terminal then we can run the following command:

rtabmap-databaseViewer ~/.ros/rtabmap.db

Results:

• Kitchen And Dining Scene:
  

• Willowgarage Scene:

RTAB-Map	RTAB-Map

Willowgarage Top	Hsin Bot In Willowgarage

Willowgarage Top	Willowgarage RViz

Future Work - Applies RTAB Mapping To A Real Robot:

Intel aero flying car	RTAB-Map