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

2. Install additional libraries

sudo apt-get install ros-kinetic-octomap-ros

• If you are using Intel Realsense install SDK and driver first from here

3. 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

• imu_filter_madgwick

• https://github.com/IntelRealSense/realsenense-ros

• http://wiki.ros.org/imu_filter_madgwick

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