RoboNd_SLAM_project

Map My World

In this project you will create a 2D occupancy grid and 3D octomap from a provided simulated environment. Furthermore, you will then create your own simulated environment to map as well.

Installation Instructions

The project requires

• ROS Kinetic
• Gazebo
• RViz
• RTABMap, prefered version (https://github.com/introlab/rtabmap.git) $ sudo apt-get install ros-kinetic-amcl

Run the Project

$ cd ~/catkin_ws
$ catkin_make
$ source devel/setup.bash

And then run the following in separate terminals - Select one For Kitchen Dining World:

$ roslaunch slam_project udacity_world.launch

For deeb World

$ roslaunch slam_project deeb_world.launch

Then run these three, all in separate teminals.

$ roslaunch slam_project teleop.launch
$ roslaunch slam_project mapping.launch
$ roslaunch slam_project rviz.launch

To save a new map:

$ rosrun map_server map_saver -f deeb_world

To view recorded RTABMap database:

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