RTAB_Mapping_and_Localization

RTAB Mapping and Localization for a two wheeled robot.

Instructions for use :

1. Install Rtabmap :

sudo apt-get install ros-noetic-rtabmap*

2. Clone the repositry :

git clone https://github.com/Vamsi-IITI/RTAB_Mapping_and_Localization.git 

3. Navigate up to the root level directory ( cd RTAB_Mapping_and_Localization ) , and execute:

catkin_make
source devel/setup.bash
roslaunch my_robot world.launch

4. To operate the robot via the keyboard, open a second terminal, navigate to the root level directory, and execute:

source devel/setup.bash
roslaunch my_robot teleop.launch 

You can then command the robot to move using the keys indicated by the teleop node.

5. Finally, to run SLAM, open a third terminal, navigate to the root level directory, and execute:

source devel/setup.bash
roslaunch my_robot mapping.launch

6. As you move the robot around, RTAB-Map will build a map of the room. When you terminate the mapping window, the map will be saved as a database file in the launch folder. To view the map, execute:

rtabmap-databaseViewer ~/RTAB_Mapping_and_Localization/src/my_robot/maps/rtabmap.db

7. Click "yes" when asked about database parameters, and then select "Constraint View" and "Graph View" from the View menu.

Note : Map uploaded in repo is slightly distorted because robot collided with walls during mapping process.

Directory Structure

Images

No loop closure : ( rtabmap.db file for this already present in repo )

After some loop closures : ( Download link provided in download_rtabmap.md )

rqt_tf_tree

rosrun rqt_tf_tree rqt_tf_tree