Autonomous Mapping

About

The goal of this application is to develop an autonomous mapping solution for a 2-wheeled robot. This application is developed as the final project in the course SES 598: Autonomous Exploration Systems at Arizona State University. The solution uses RTABMap to develop a quality 3D map while avoiding obstacles.

Code was tested on Ubuntu 20.04 running ROS Noetic.

GIF Demonstration

Videos

Full Demonstration

To Install ROS Package

cd ~/catkin_ws/src
https://github.com/Mannat-Rana/Autonomous-Mapping.git
catkin build
sudo chmod +x Autonomous-Mapping/reactive_mapping/src/reactive_mapping_node.py
cd ~/catkwin_ws
source devel/setup.bash

To Run

roslaunch my_robot world.launch
rosrun reactive_mapping reactive_mapping_node.py