RoboticaUtnFrba / create_autonomy

ROS autonomy stack for iRobot Create 2.

BSD 3-Clause "New" or "Revised" License

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Add RTAB-Map for mapping and localization #239

Closed eborghi10 closed 3 years ago

eborghi10 commented 3 years ago

Description

This PR adds rtabmap_ros for 3D mapping and localization. Closes issue #30.

http://wiki.ros.org/rtabmapros/Tutorials/SetupOnYourRobot#Kinect.2B-_Odometry

TODO:

~~Test localization~~
~~Test with real robot~~

Type of change

Please delete options that are not relevant.

[X] New feature (non-breaking change which adds functionality)
[X] This change requires a documentation update

How Has This Been Tested?

# Gazebo
LOCALIZATION=rtab RVIZ=true LASER=astra GUI=false roslaunch ca_gazebo create_sweet_house_5.launch
# Real robot
RVIZ=true LOCALIZATION=rtab LASER=d435 roslaunch ca_bringup complete.launch

Test Configuration:

[X] Real robot
[X] Gazebo simulation

Checklist:

[x] My code follows the style guidelines of this project (Travis CI is passing)
[ ] I have performed a self-review of my own code
[ ] I have commented my code, particularly in hard-to-understand areas
[x] I have made corresponding changes to the documentation
[x] My changes generate no new warnings
[x] I have added tests that prove my fix is effective or that my feature works
[x] New and existing unit tests pass locally with my changes