ChrisL 2019-03-24
This repo is for personal coursework.
It is for the "Home Service Robot" ROS Slam Project,
the fifth and last project of Udacity Robotic Engineer ND, Term2.
NOTE: This repo contains more than just the Catkin source directory!
The ROS source directory is
$REPO/catkin_ws/src
It is unclear if the ROS source packages should be included in this repo or not.
I have decided to include them directly, not as git sub modules.
My project was developed on a personal laptop with Mint/Ubuntu16.04 with ROS Kinetic installed, but was also tested on the udacity workspace.
The project requires several ROS packages to build and function properly. The instructions for called for the package sources to be installed directly within the project source folder. The exact steps to achieve this were unclear. I believe that the following is sufficient to install the dependencies.
cd ~/catkin_ws/src
git clone https://github.com/turtlebot/turtlebot_simulator
git clone https://github.com/turtlebot/turtlebot_interactions
git clone https://github.com/turtlebot/turtlebot
git clone https://github.com/ros-perception/slam_gmapping
git clone https://github.com/ros-perception/openslam_gmapping
sudo apt-get install ros-kinetic-turtlebot-navigation
However, this repo has included those repos directly, not as submodules so that if you clone the repo it should be ready for catkin_make.
rosrun tf view_frames writes the ROS transform frames to ./frames.pdf.
rosrun tf tf_monitor frame_1 frame_2 monitors transforms.
rqt_graph Displays the ros nodes and topics.
roswtf Runs helpful diagnostics on the running ROS environment.
rtabmap-databaseViewer ./rtabmap.db Loads a rtabmap database file for review.
rostopic hz /rtabmap/odom Reports the update rate of a topic.
rqt_console Reports log and error messages.
rqt_image_view A tool to view image topics, such as from the camera.
rosrun map_server map_saver -f src/World/MyWorldMap Save SLAM map state.
React
Typescript
Django
Laravel
Facebook
Microsoft
Google
Alibaba
D3
Tencent
