Project Title: Map My World?
Project Goals:
- Create 2D occupancy grid and 3D octomap from a simulated environment with the RTAB-Map package.
Setup and pull
mkdir -p $HOME/<user_workspace>/src
cd $HOME/<user_workspace>/src
git clone [email protected]:tolgakarakurt/udacity-project4.git
- Install rtab-map here
$ sudo apt-get update
$ sudo apt-get install ros-kinetic-rtabmap-ros
$ sudo apt-get install libsqlite3-dev libpcl-dev libopencv-dev git cmake libproj-dev libqt5svg5-dev
- Open a terminal
catkin_make
- Open a terminal
roslaunch my_robot world.launch
- Open another terminal
roslaunch my_robot mapping.launch
- Open a terminal
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
Note: Gather rtabmap.db here
TKProject4 # Map My World Project
├── my_robot # my_robot package
│ ├── config # map configuration files
│ │ ├── base_local_planner_params.yaml
│ │ ├── costmap_common_params.yaml
│ │ ├── global_costmap_params.yaml
│ │ ├── local_costmap_params.yaml
│ ├── launch # launch folder for launch files
│ │ ├── amcl.launch
│ │ ├── localization.launch
│ │ ├── mapping.launch
│ │ ├── robot_description.launch
│ │ ├── teleop.launch
│ │ ├── world.launch
│ ├── maps # maps folder for amcl
│ │ ├── map.pgm
│ │ ├── map.yaml
│ ├── meshes # meshes folder for sensors
│ │ ├── hokuyo.dae
│ ├── urdf # urdf folder for xarco files
│ │ ├── my_robot.gazebo
│ │ ├── my_robot.xacro
│ ├── urdf # robot urdf file
│ │ ├── my_robot.gazebo
│ │ ├── my_robot.xacro
│ ├── worlds # world folder for world files
│ │ ├── myoffice.world
│ ├── CMakeLists.txt # compiler instructions
│ ├── package.xml # package info
└──