ROS SLAM Demo

A simple demonstration of Simultaneous Localization and Mapping (SLAM) using ROS and Gazebo simulator.

Description

• Algorithm : Grid-Based FastSLAM (from slam-gmapping)

• Robot : TurtleBot3 Burger (from turtlebot3)

• Sensor : 360 Laser Distance Sensor LDS-01

• Environment : Custom

Prerequisites

• ROS Noetic

• Rviz 1.14.7

• Gazebo 11.5

• ROS Noetic TurtleBot3 : sudo apt install ros-noetic-turtlebot3-*

Usage

• Setup catkin workspace :

  mkdir -p /home/<username>/workspace/catkin_ws/src
  cd catkin_ws/src/
  catkin_init_workspace
  cd ..
  catkin_make

• Clone the repo packages :

  cd /home/<username>/workspace/catkin_ws/src
  git clone https://github.com/DarkGeekMS/ros-slam-demo.git

• Build and source the packages :

  cd /home/<username>/workspace/catkin_ws
  catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3
  source devel/setup.bash

• Source TurtleBot3 model to ~/.bashrc :

  echo 'export TURTLEBOT3_MODEL=burger' >> ~/.bashrc
  source ~/.bashrc

• Run the required packages for the demo :

  # Terminal 1 (ROS Master Node)
  roscore
  
  # Terminal 2 (TurtleBot3 Gazebo Simulation)
  cd /home/<username>/workspace/catkin_ws
  source devel/setup.bash
  roslaunch turtlebot3_gazebo turtlebot3_world.launch
  
  # Terminal 3 (TurtleBot3 GMapping SLAM)
  cd /home/<username>/workspace/catkin_ws
  source devel/setup.bash
  roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping
  
  # Terminal 3 (TurtleBot3 Teleoperation)
  cd /home/<username>/workspace/catkin_ws
  source devel/setup.bash
  roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

• Alternatively, you can run the demo using a single launch file [SLOWER] :

  cd /home/<username>/workspace/catkin_ws
  source devel/setup.bash
  roslaunch turtlebot3_gazebo turtlebot3_slam_demo.launch

• Save the output map :

  rosrun map_server map_saver -f OutMap

Used Packages

• turtlebot3_gazebo : for TurtleBot3 Gazebo simulation.

• turtlebot3_slam : a wrapper for slam_gmapping package to perform SLAM on TurtleBot3.

• slam_gmapping : for Grid-Based FastSLAM using ROS openslam_gmapping SLAM library.

• turtlebot3_teleop : for controlling a robot through external peripheral (used to navigate the robot during SLAM).

Visual Results

Figure(1): World in Gazebo simulator.

Figure(2): A 3D view of TurtleBot3 in Gazebo simulator.

Figure(3): A view of a portion of result occupancy grid map (OGM) in Rvis.