Map My World

Contents

There are 3 packages:

• teleop_twist_keyboard is for manual control of robot motion.
• my_robot contains gazebo environemnts for the robot.
• my_navigation contains launch files for executing the rtabmap based mapping, and localization functions.
• Note that some example snapshots of the robot simulator can be found inside the folder results/.

Remarks

For localization demo (as described in section 2.2), the pre-built rtabmap database can be alternatively downloaded from HERE. Before using it, you have to paste the rtabmap.db file inside the data folder of my_navigation package.

Usage

1. Run the Robot Environment

• In the first terminal

$ roslaunch my_robot world.launch

• In the second terminal

$ roslaunch my_navigation teleop.launch

2. Demo

2.1. Mapping Demo

• Note that the database_path for rtabmap mapping is set to $(find my_navigation)/data/rtabmap.db by default.
• In a new terminal

$ roslaunch my_navigation mapping.launch

2.2. Localization Demo

• Make sure that you have the rtabmap.db inside your my_navigation package before running.
• In a new terminal

$ roslaunch my_navigation localization.launch

Example Snapshots

Gazebo environment

RTABMAP Mapping

RTABMAP Localization

rqt_graph

$ rosrun rqt_graph rqt_graph

Database Viewer

$ rtabmap-databaseViewer <your_workspace>/src/my_navigation/data/rtabmap.db