The goal of the project is implement SLAM on a robot which has been deployed in an unknown area. The robot is equipped with an RGB camera and a LIDAR. Use the following lines of code to start the simulation:
cd catkin_ws
source devel/setup.bash
roslaunch my_robot mapping.launch
This code should open a gazebo world with a robot deployed. Moreover, it should open an RVIZ window showing real-time parameter values. TO get an accurate map of the environment, try to follow the same path more than twice. After generating the map, the resultant maps and features can be explored and analyzed in detail using the RTAB mapping. Use the following lines of code to open a new RTAB window:
rtabmap-databaseViewer ~/.ros/rtabmap.db
To view the relavant information, go to view and enable Constaint View and Graph View.