・ To build robot ball chaser, detail is here.

・ To build robot ball chaser AMCL package(ROS-kinetic-package), detail is here.

udacity_robot_rtabmap_slam_package

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

Structure

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

rqt-graph

Build 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

Make a world map using rtabmap package

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

Launch rtabmap localization to estimate my position

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

[TIPS] Database Analysis

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

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