Map My World

This project is aimed at demonstrating the use of RTAB-Map (a GraphSLAM based algorithm) package for simultaneous localization and mapping (SLAM) of a mobile robot in a environment. The repository consist of the following:

• A feature-rich Gazebo world and a mobile robot.
• ROS packages: rtabmap_ros.

Prerequisites

• ROS and Gazebo running on Linux.
• CMake and gcc/g++.
• Install rtabmap_ros package by using the following commands:

  $ sudo apt-get update
  $ sudo apt-get upgrade -y
  $ sudo apt-get install ros-<your distro>-rtabmap-ros
  

Build

• Clone the repo to the src folder of your catkin workspace

  $ git clone https://github.com/yabdulra/Mapping-Using-RTAB-Map.git
  

  Follow this guide to create a catkin workspace if you do not have one.

• Within the same src folder, clone the teleop package

  $ git clone https://github.com/ros-teleop/teleop_twist_keyboard
  

• Change directory to catkin_ws and build.

  $ cd ..
  $ catkin_make
  

Launch

• Source your workspace and launch the simulation world.

  $ source devel/setup.bash
  $ roslaunch my_robot world.launch
  

• In a new terminal, source your workspace and launch the rtabmap package.

  $ source devel/setup.bash
  $ roslaunch my_robot mapping.launch
  

• In a new terminal. source your workspace and run the teleop node.

  $ source devel/setup.bash
  $ roslaunch my_robot teleop.launch
  

  Drive the robot around the world using the teleop keyboard to build a complete map of your world.

Map visualization

When you are done generating the map, you can view it using the rtabmap-databaseViewer tool. It allows for complete analysis of your mapping session.

• Open the mapping database using the following:

  $ rtabmap-databaseViewer ~/.ros/rtabmap.db
  

• Add some windows to get a better view of the relevant information.
  • Say yes to using the database parameters
  • View -> Constraint View, to idebtify where and how to neighboring links and loop closures were created,
  • View -> Graph View, to view the 2D map, updated iteration, and the path of your robot,
  • View -> Occupancy Grid, to view the occupancy grid of your map,
  • Edit -> view 3D map... to view the 3D representation of your world.

Here is a view of the 3D-Map, 2D-Map, and Occupancy Grid generated from the world in this project.

World	3D Map
2D Map	Occupancy Grid