SLAM-map-my-world

Part of the Udacity Robotics Software Engineer Nanodegree SLAM project repository.

A robot moving indoors, mapping the surroundings and localizing itself at the same time

if you have a catkin_ws folder then skip the follwoing step. however if you do not have an active ROS workspace, you can create one by:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin_make
source devel/setup.bash

In order to start Clone this repository to the ~/catkin_ws/src folder with:

cd ~/catkin_ws/src
git clone https://github.com/Beshario/SLAM-map-my-world

setup and build RTAB-map from source using this link: link

Now install missing dependencies using rosdep install:

rosdep install -i rtabmap_ros
rosdep install -i slam_project

Build the project then source the ROS environment variables:

cd ~/catkin_ws
catkin_make
source devel/setup.bash

Download the kitchen dining room *.world file with collision models (some files do not include collision models):

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

source the ROS environment variables when you open any new terminal. Open three terminals and to the ~/catkin_ws/src/SLAM-map-my-world/launch folder and run each command in one terminal:

roslaunch slam_project world.launch 
roslaunch slam_project teleop.launch
roslaunch slam_project mapping.launch