Robotics_Map_My_World

Project #4 Map My World for Robotics Software Engineer Nanodegree Program

Overview

Refer to this YouTube Link for how I mapped the environment: https://www.youtube.com/watch?v=amcQPbuU8bI

Description

In this project, my robot will navigate through the world to create a 2D occupancy grid and 3D octomap from a simulated environment with the RTAB-Map package.

Requirements

• Gazebo any version later than v7.0.0
• ROS Kinetic -follow instructions here: ROS Installation Instructions
• GNU make
  • Installation for Windows
  • Installation for Mac
  • make is installed by default for most Linux distros
• C++11 Complier (gcc/g++)

Recommended Virtual Machine Alternative Specs:

• Ubuntu 64-bit Disk Image
• 2 GB of RAM
• 20 GB Disk Space
• 4 Logical Cores

Setup

1. After installing and meeting the requirements listed above, open up a terminal.
2. Create and initialize a catkin workspace:

    $ mkdir -p /home/workspace/catkin_ws/src
    $ cd /home/workspace/catkin_ws/src
    $ catkin_init_workspace

3. Clone the project repository & move the my_robot and teleop_twist_keyboard directories into the src directory:

    $ cd /home/workspace/catkin_ws/src
    $ git clone https://github.com/jordanjj8/Map_My_World.git
    $ mv Robotics_Map_My_World/teleop_twist_keyboard /home/workspace/catkin_ws/src/teleop_twist_keyboard 
    $ mv Robotics_Map_My_World/my_robot /home/workspace/catkin_ws/src/my_robot
    $ rm -rf Robotics_Map_My_World

4. Navigate back to the catkin workspace and build the executables:

    $ cd /home/workspace/catkin_ws/
    $ catkin_make

5. Source the setup script and launch the launch file. The robot in Gazebo should open up:

    $ cd /home/workspace/catkin_ws/
    $ source devel/setup.bash
    $ roslaunch my_robot world.launch 

6. Now open up another terminal and launch teleop.launch in the teleop_twist_keyboard package. This will enable the user to move the robot.

    $ cd /home/workspace/catkin_ws/
    $ source devel/setup.bash
    $ roslaunch teleop_twist_keyboard teleop.launch

7. Now open up a 3rd terminal and launch mapping.launch in the my_robot package. This will launch the RTAB-Map, which is a solution for SLAM. Essentially allowing the user to create a 3D map of the environment.

    $ cd /home/workspace/catkin_ws/
    $ source devel/setup.bash
    $ rosrun my_robot mapping.launch

Related Links

http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot

http://wiki.ros.org/rtabmap_ros

Generated Map

Jordan's RTAB-Map