Navigation

This code is tested on Ubuntu 18.04 with ROS Melodic.

Installation

cd ~/catkin_ws/src

git clone https://github.com/kellen080/Indoor_positioning.git

cd ~/catkin_ws

catkin_make_isolated

Obstacle Avoidance Navigation

Main Command

Simulation

$ roslaunch rtabmap_drone_example gazebo.launch

Real

$ roslaunch rtabmap_drone_example slam.launch localization:=true

$ roslaunch rtabmap_drone_example rviz.launch

$ rosrun rtabmap_drone_example offboard

Image Transport

Simulation

$ rosrun image_transport republish compressed in:=/r200/camera/color/image_raw raw out:=/image/color/image_raw

$ rosrun image_transport republish compressedDepth in:=/r200/camera/depth/image_raw raw out:=/image/aligned_depth_to_color/image_raw

Real

$ rosrun image_transport republish compressed in:=/camera/color/image_raw raw out:=/image/color/image_raw

$ rosrun image_transport republish compressedDepth in:=/camera/aligned_depth_to_color/image_raw raw out:=/image/aligned_depth_to_color/image_raw

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SSH

VOXL

$ ssh root@192.168.0.199 (oelinux123)
$ docker start boring_jones
$ docker exec -it boring_jones /bin/bash
$ cd
$ source my_ros_env.sh
$ roslaunch mavros px4.launch fcu_url:=udp://127.0.0.1:14551@:14551 tgt_system:=${PX4_SYS_ID}

UP-Board

$ ssh rvl@192.168.0.39 (rvl122)
$ source my_ros_env.sh
$ roslaunch realsense2_camera rs_camera.launch align_depth:=true

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RTAB-Map SLAM

Mapping Mode

With D435

$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" \
depth_topic:=/camera/aligned_depth_to_color/image_raw \
rgb_topic:=/camera/color/image_raw \
camera_info_topic:=/camera/color/camera_info \
approx_sync:=false

With D435 and Image Transport

$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" \
depth_topic:=/image/aligned_depth_to_color/image_raw \
rgb_topic:=/image/color/image_raw \
camera_info_topic:=/camera/color/camera_info \
approx_sync:=false

Localization Mode

With D435

$ roslaunch rtabmap_ros rtabmap.launch localization:=true \
depth_topic:=/camera/aligned_depth_to_color/image_raw \
rgb_topic:=/camera/color/image_raw \
camera_info_topic:=/camera/color/camera_info \
approx_sync:=false

With D435 and Image Transport

$ roslaunch rtabmap_ros rtabmap.launch localization:=true \
depth_topic:=/image/aligned_depth_to_color/image_raw \
rgb_topic:=/image/color/image_raw \
camera_info_topic:=/camera/color/camera_info \
approx_sync:=false

Launch RealSense D435

$ roslaunch realsense2_camera rs_camera.launch  align_depth:=true

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