Map My World

This is the SLAM project of the Udacity Robotics Software Engineer Nanodegree. It uses Real-Time Appearance Based Mapping (RTAB-Map) in ROS to perform SLAM in a simulated environment.

Writeup

The writeup can be found in report/Map_My_World.pdf click here to access the writeup

Installation & Build

ROS Kinetic

The project was developed on Ubuntu 16.04 LTS with ROS Kinetic, Gazebo and catkin installed.

Dependencies

• rtabmap_ros ROS package

Building the Workspace

Use catkin to build the packages from source. First create a catkin workspace:

• mkdir -p ~/catkin_ws/src
• cd ~/catkin_ws/src
• catkin_init_workspace
• cd ~/catkin_ws
• catkin_make; source devel/setup.bash
• cd ~/catkin_ws/src

Then clone the project and rebuild

• git clone https://github.com/yulivee/RoboNDMapMyWorld.git
• cd ~/catkin_ws
• catkin_make; source devel/setup.bash

Launching the project

Run these scripts in the specified order to launch the SLAM World

Launch the kitchen-dining world in Gazebo:

roslaunch udacity_bot udacity_world.launch

Alternatively, launch the robot-workshop world of my own design in Gazebo:

roslaunch udacity_bot robot_workshop.launch

Launch the teleop node for keyboard control:

roslaunch udacity_bot teleop.launch

Launch the RTAB-Map mapping node

roslaunch udacity_bot mapping.launch

Launch the RViz GUI:

roslaunch udacity_bot rviz.launch

Robot Model

The robot model was extended from the previous project Where Am I?. It features an RGB-D camera to input depth information to RTAB-Map.

First the mapping was performed using a provided kitchen-world by Udacity. Then a small Robot Workshop with some tools and Boxes as obstacles was built and used for mapping purposes:

RTAB Map Database Files

The RTAB Map Database Files are far too large for github and can be found on Google Drive: rtabmap databases