Mobile-Robot-Mapping-using-RTAB-Map

Introduction

In this project i will create a 2D occupancy grid and 3D octomap from a simulated environment using my own robot with the RTAB-Map package.

RTAB-Map (Real-Time Appearance-Based Mapping) is a popular solution for SLAM to develop robots that can map environments in 3D. RTAB-Map has good speed and memory management, and it provides custom developed tools for information analysis.

For this project we will be using the rtabmap_ros package, which is a ROS wrapper (API) for interacting with RTAB-Map.

Mapping Test

1. First, launch the Gazebo world and RViz, spawn the robot in the environment:

$ roslaunch my_robot world.launch

2. Then, launch the teleop node:

$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py

3. Finally, launch your mapping node:

$ roslaunch my_robot mapping.launch

Navigate the robot in the simulation to create map for the environment! When you are all set, terminal the node and you could find your map db file in the place you specified in the launch file. If you did not modify the argument, it will be located in the /root/.ros/ folder.