ROS RTABMAP-Mapping and Localization

The mobile robot able to perform full slam with the help of rtabmap-ros.

Installation

If you are working with a native ROS installation or using a VM, some of the following package might need to be installed. You could install them as shown below:

$ sudo apt-get install ros-melodic-rtabmap-ros
$ sudo apt-get install ros-melodic-teleop-twist-keyboard

Launching

Launch the simulation environment using

$ roslaunch my_robot world.launch

Note: The simulation environment used in this project is much smaller and design specifically to allow fast convergence of rtab-map. Rtab-map use texture of the environment to detect the mapping location, therefore, for simulation purpose, the world is redesigned with different texture in each room and difference object is being place orderly in different room to avoid repetitive texture and object.

To move the robot around

$ roslaunch teleop_twist_keyboard teleop.launch

Launch the rtabmap

$ roslaunch my_robot mapping.launch

Following link is to download the done rtabmap for the project. https://drive.google.com/file/d/19eS9OiWTFZXoXW1baQO1HEGt7gHEA77x/view?usp=sharing

Provided you have downloaded above link and put it inside /my_robot and you could use it to perform localization.

$ roslaunch my_robot localization.launch

Testing

• Send move command via teleop package

Rviz Interface