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UTRA-ART / SLAM-1920

SLAM and Navigation on ROS Kinetic
https://utra-art.github.io/SLAM/
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Slam 38 - Integrating RTAB Map #86

Closed 1999michael closed 4 years ago

1999michael commented 4 years ago

This pull request has also merged Fed's SLAM-38-AddingStereoCam Additionally, Gazebo GUI has been turned off.

To run rtabmap after gazebo, rviz (not move_base), run the command roslaunch nav_rtab rtabmap_navigation.launch

There are 3 things you'll need to do in rviz to visualize rtabmap's data

  1. Updating Scan topic Change laser_scan's subscribed topic from /scan to /scan_filtered
  2. Visualizing Point Cloud data Add "MapCloud" under rtabmap_ros, and subscribe to the /mapData topic. Point cloud will be generated as you move.
  3. Visualizing Occupancy Grid Add "map", and subscribe to the /map topic. Occupancy grid will be generated as you move.

Warning: As you move around, you'll find warning about "loop closure rejection". These are okay as SLAM isn't perfect, and just warns that a loop closure was estimated to happen but are rejected since not enough features are the same. Additionally, there may be a warning about "loop closure frequency". This is simply that the rate of loop closure isn't as high as desired, but should probably be dealt with when tuning rtabmap parameters.`

1999michael commented 4 years ago

Instead of running rtab.launch & 'move_base.launch', now run 'roslaunch nav_rtab rtabmap_navigation.launch'