・ To build robot ball chaser, detail is here.
・ To build robot ball chaser AMCL package(ROS-kinetic-package), detail is here.
Udacity Robotics Software Engineer Nanodegree Program. This robot guesses where you are from the map using rtabmap_ros package here.
Easy way to build
$ bash build.sh
udacity_robot_rtabmap_slam_package # Project Files
├── myrobot
│ ├── launch
│ │ ├── nav_world.launch # launch my_robot in Gazebo
│ │ ├── rtab_localization.launch # launch localization using rtab package
│ │ ├── rtab_mapping.launch # launch rtab mapping package
│ │ ├── teleop.launch # launch teleop package
│ ├── rtab
│ │ └── trab_conf.ini # setting file rtab
│ ├── rviz
│ │ ├── rtabmap.rviz # Rviz setting file using rtabmap package
└── teleop_twist_keyboard # twist keyboard package
Install ROS kinetic (ros-kinetic-desktop-full) on Linux.
- Build requirement package(using shell script)
$ bash build.sh
- Build requirement package(using command script)
$ mkdir -p ~/Desktop/udacity_ws/src
$ cd ~/Desktop/udacity_ws/src
$ git clone https://github.com/mantues/udacity_robot_rtabmap_slam_package
$ git clone -b kinetic-devel https://github.com/introlab/rtabmap_ros
$ chmod +x ~/Desktop/udacity_ws/src/udacity_robot_rtabmap_slam_package/teleop_twist_keyboard/*.py
$ cd ~/Desktop/udacity_ws
$ rosdep install --from-paths src --ignore-src --rosdistro kinetic -y
$ catkin_make
$ source ~/Desktop/udacity_ws/devel/setup.bash
Launch the myrobot node with below command.
$ roslaunch myrobot nav_world.launch
Launch the rtabmap package with below command in a new terminal window.
$ roslaunch myrobot rtab_mapping.launch
Control the robot to complete the map using teleop packagein a new terminal window.
$ roslaunch myrobot teleop.launch
Download database(output.db and cloud.ply) with below comamnd.
$ cd ~/Desktop/udacity_ws/src/udacity_robot_rtabmap_slam_package/myrobot/rtab
$ curl -sc /tmp/cookie "https://drive.google.com/uc?export=download&id=1SukftQyH_83mKg3N-kI_9qRzZmXKBdCb" > /dev/null
$ CODE="$(awk '/_warning_/ {print $NF}' /tmp/cookie)"
$ curl -Lb /tmp/cookie "https://drive.google.com/uc?export=download&confirm=${CODE}&id=1SukftQyH_83mKg3N-kI_9qRzZmXKBdCb" -o output.db
$ cd ~/Desktop/udacity_ws
$ roslaunch myrobot rtab_localization.launch
https://drive.google.com/file/d/1SukftQyH_83mKg3N-kI_9qRzZmXKBdCb/view?usp=sharing
How to check point clowd data using rtabmap package.
Download data with below comamnd.
$ rtabmap-databaseViewer ~/Desktop/udacity_ws/src/udacity_robot_rtabmap_slam_package/myrobot/rtab/output.db