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slam-octomap

Tested with Intel Realsense D435i stereo camera. Capable of localizing in GPS denied environment while building a 3-D map of the surrounding.

Installation Instructions - Ubuntu 16.04 with ROS Kinetic

  1. First install ROS Kinetic in your system following this guide, prefer Ubuntu 16.04

Ubuntu Installation

ROS Installation

  1. Install additional libraries
sudo apt-get install ros-kinetic-octomap-ros
  • If you are using Intel Realsense install SDK and driver first from here
  1. Setup your workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/da-piyushpatel/slam-octomap.git 
cd ~/catkin_ws
catkin build
echo "~/catkin_ws/devel/setup.bash"

Sources

The realsense camera is provided with accelerometer and gyroscope, using this algorithm onc can find out cmaera's orientation in 3D space

roslaunch realsense2_camera rs_camera.launch unite_imu_method:=copy filters:=pointcloud

rosrun imu_filter_madgwick imu_filter_node _use_magnetic_field_msg:=false _publish_debug_topics:=true

  • To know more about the codes and this project see the attached SURGE_report.pdf