SLAM and Navigation on ROS

This project runs on ROS Kinetic for Ubuntu 16.04. Please check out our Wiki for more information.

Setting up the ROS Environment

Install ROS Kinetic

See Getting Started with ROS for installation instructions.

Install the husky-desktop and husky-simulator Packages

sudo apt-get install ros-kinetic-husky-desktop
sudo apt-get install ros-kinetic-husky-simulator

Install the navigation Package

sudo apt-get install ros-kinetic-navigation

Install the gmapping Package:

sudo apt-get install ros-kinetic-gmapping

Note: This was the package we used for performing SLAM.

Install the rtabmap_ros Package:

sudo apt-get install ros-kinetic-rtabmap-ros

Note: This is the package we use for performing SLAM.

Creating the ROS Workspace

First clone the git repository, then create a workspace by running

# Creates CMake file in src
cd ./slam-ws/src
catkin_init_workspace

# Creates setup files - build/ and devel/ folders
cd ./slam-ws
catkin_make

Cleaning the ROS Workspace

Every once in a while it is necessary to clear unnecesary logs that are saved from tests that have been run. These logs can quickly add up to the GB range, and can slow down ROS. To check how many logs you have run:

rosclean check

This should give you how much memory is consumed by logs. If nothing is returned you have no logs. To delete logs run:

rosclean purge

University of Toronto Robotics Association

Autonomous Rover Team