Occupancy Grid Mapping - Mobile Robot Laser

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This is my implementation on occupancy grid mapping from laser data using TurtleBo3 Burger in Gazebo

Usage:

1. From terminal on directory

catkin_make
source devel/setup.bash

2. Run Gazebo

roslaunch custom_world custom_world.launch

3. Run RVIZ Viewer

roslaunch occupancy_mapping map_viewer.launch 

4. Run Occupancy Mapping

roslaunch occupancy_mapping occupancy_map.launch 

5. Control Using Teleopkey

roslaunch turtlebot3_teleopkey turtlebot3_teleop_key.launch 

Youtube Video:

Requirements

1. Qt 5.9
2. YAML
3. C++11

Todo List

• Mapping
• Odometry Update
• SLAM

Feel free to ask me, I will be very happy to discuss and learn from others. m.haritsah@mail.ugm.ac.id