SLAM_RTABMap_usingROS

ROS Project to practice SLAM using RTABMap package in a custom world

3D Point Cloud View:

Finding Common Features & Loop Closure:

Built on:

ROS Kinetic & Ubuntu 16.04

Steps to Implement:

1. Create a Catkin Workspace and clone the repo and store it as 'my_robot' package in the 'src' folder.
2. Clone the following ROS Package into the src folder : http://wiki.ros.org/rtabmap_ros
3. Clone the teleop package into the src folder : https://github.com/ros-teleop/teleop_twist_keyboard
4. Change back to the catkin workspace folder and execute catkin_make
5. source devel/setup.bash
6. roslaunch my_robot world.launch
7. In a new terminal : rosrun teleop_twist_keyboard teleop_twist_keyboard.py
8. In a new terminal : roslaunch my_robot mapping.launch
9. Command the robot around using the teleop terminal. When done, close all the terminals.
10. The map file, 'rtabmap.db', will be created in a hidden folder '~/.ros'

View the map file:

In a new terminal execute : rtabmap-databaseViewer ~/.ros/rtabmap.db (Could not provide the rtabmap.db file I generated due to file size limitations. Screenshot is provided above)