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Map My World

Udacity Robotics Software Engineer Nanodegree Program [Project 4]

An application of rtabmap-ros package for simultaneous localization and mapping (SLAM) of a mobile robot.

3D map
3D Map

Robot Mapping
3D Mapping

2D Map
2D Map

2D Map
2D Mapping

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

Clone project and initialize a catkin workspace

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

Within the catkin_ws/src folder, clone the teleop project

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

Move back to catkin_ws\ and build

$ cd ..
$ catkin_make

Launch the world and robot

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

Launch 'mapping.launch

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 kene_robot mapping.launch

Launch Teleop

Open another terminal, and run the teleop node.

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

Generate database

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.

Saved database: https://drive.google.com/file/d/10YTLmTXb2l-LAwcrFoA6_5SuDn9RNiOE/view?usp=sharing

Launch Database

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 ...