feat: Add rtab_run

Author: polarbeargo

catkin_ws/src/slam_project/rtab_run

@@ -0,0 +1,51 @@
+#! /bin/bash
+
+# Run before launching anything to allow collision between vehicle and environment
+mkdir -p ~/.gazebo/
+curl -L https://s3-us-west-1.amazonaws.com/udacity-robotics/Term+2+Resources/P3+Resources/models.tar.gz | tar zx -C ~/.gazebo/
+
+echo ' '
+read -p 'Would you like to clear the previous map database? (y/n): ' ansinput
+
+if [ “$ansinput” = “y” ]
+then
+ printf '\n Map deleted \n'
+ rm -f ~/.ros/rtabmap.db
+
+elif [ “$ansinput” = “n” ]
+then
+ printf '\n Map kept \n'
+
+else
+ echo 'Warning: Not an acceptable option. Choose (y/n).
+         '
+fi
+
+echo ' '
+
+read -p 'Enter target world destination or d for default: ' input_choice
+
+if [ “$input_choice” = “d” ]
+then
+ x-terminal-emulator -x roslaunch slam_project world.launch world_file:=/home/workspace/catkin_ws/src/slam_project/worlds/kitchen_dining.world 2>/dev/null &
+
+else
+ x-terminal-emulator -x roslaunch slam_project world.launch world_file:=$input_choice 2>/dev/null &
+fi
+
+sleep 3 &&
+
+x-terminal-emulator -x roslaunch slam_project teleop.launch 2>/dev/null &
+
+sleep 3 &&
+
+echo ' '
+read -p 'Press any key to continue to mapping... ' -n1 -s
+
+x-terminal-emulator -x roslaunch slam_project mapping.launch simulation:=true 2>/dev/null &
+sleep 3 &&
+x-terminal-emulator -e roslaunch slam_project rviz.launch 2>/dev/null
+
+echo ' '
+echo 'Script Completed'
+echo ' '