udacity-project4

Udacity's nano degree program: Robotics Software Engineering

Project Title: Map My World?
Project Goals:

• Create 2D occupancy grid and 3D octomap from a simulated environment with the RTAB-Map package.

Setup and pull

mkdir -p $HOME/<user_workspace>/src
cd $HOME/<user_workspace>/src
git clone git@github.com:tolgakarakurt/udacity-project4.git

Requirements

Dependencies:

• Install rtab-map here

$ sudo apt-get update
$ sudo apt-get install ros-kinetic-rtabmap-ros
$ sudo apt-get install libsqlite3-dev libpcl-dev libopencv-dev git cmake libproj-dev libqt5svg5-dev

Build

• Open a terminal
• catkin_make

Mapping

• Open a terminal
  • roslaunch my_robot world.launch
• Open another terminal
  • roslaunch my_robot mapping.launch
• Open a terminal
  • rosrun teleop_twist_keyboard teleop_twist_keyboard.py

Note: Gather rtabmap.db here

Package Directory

TKProject4                          # Map My World Project
├── my_robot                        # my_robot package   
│   ├── config                      # map configuration files   
│   │   ├── base_local_planner_params.yaml
│   │   ├── costmap_common_params.yaml    
│   │   ├── global_costmap_params.yaml
│   │   ├── local_costmap_params.yaml              
│   ├── launch                      # launch folder for launch files   
│   │   ├── amcl.launch
│   │   ├── localization.launch
│   │   ├── mapping.launch
│   │   ├── robot_description.launch
│   │   ├── teleop.launch
│   │   ├── world.launch
│   ├── maps                        # maps folder for amcl
│   │   ├── map.pgm
│   │   ├── map.yaml
│   ├── meshes                      # meshes folder for sensors
│   │   ├── hokuyo.dae
│   ├── urdf                        # urdf folder for xarco files
│   │   ├── my_robot.gazebo
│   │   ├── my_robot.xacro
│   ├── urdf                        # robot urdf file
│   │   ├── my_robot.gazebo
│   │   ├── my_robot.xacro
│   ├── worlds                      # world folder for world files
│   │   ├── myoffice.world
│   ├── CMakeLists.txt             # compiler instructions
│   ├── package.xml                # package info              
└──