P3 - Connect RTAB Map - Githubissues

UTRA-ART / Caffeine

Caffeine on ROS for IGVC

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P3 - Connect RTAB Map #12

Closed erickmu1 closed 10 months ago

erickmu1 commented 4 years ago

Description:

RTAB Map performs SLAM and thus creates a map of the robot's surroundings
We will need such a map, hence we connect it to the Navigation Stack

Goals:

[ ] Connect appropriate topics to RTAB Map
[ ] Run RTAB Map
[ ] Connect RTAB Map to the Navigation Stack

Acceptance Criteria:

[ ] Produced Point Clouds and Occupancy Grids should match the environment the robot sees
[ ] Caffeine navigates at least as well as when the Navigation Stack was only used
[ ] Can send nav goals to any location in the simulated world (within reason)

Notes:

We use RTAB Map over a SLAM package such as gmapping because it supports camera inputs and allows for mutliple configurations
Goal is not to finely tune RTAB Map, but to get it working well enough
Camera should be tilted at an angle
Documentation: http://wiki.ros.org/rtabmap_ros
Old implementation: https://github.com/UTRA-ART/SLAM-1920/tree/dev/slam-ws/src/nav_rtab

Raindancer0912 commented 10 months ago

Currently implementing another SLAM package: Cartographer. May reopen a later time