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Robotic-Nano-Degree-Project-4

Description

  • This is the fourth project of the Robotics udacity nano-degrees.
  • The robot is able to navigate the environment and draw 3d point clound and 2d occupency grid maps using rtabmap ros package.

Prerequistes

  • Udacity Robond virtual machine running on VMWare Player

Building

# Create the workspace
mkdir -p ~/catkin_ws/src
cd  ~/catkin_ws/src
# Clonning the Repo
git clone [email protected]:RemonComputer/Robotic-Nano-Degree-Project-4.git 
cd ..
# Compiling the packages
catkin_make

Running

  • Open the first terminal to launch the robot package (and launch the robot in the simulation & Rviz).
cd ~/catkin_ws
source ~/catkin_ws/devel/setup.bash
roslaunch my_robot world.launch
  • Open another terminal to run the mapping node
cd ~/catkin_ws
source ~/catkin_ws/devel/setup.bash
roslaunch my_robot mapping.launch
  • Open another terminal and run the keyboard_teleop_package
cd ~/catkin_ws
source ~/catkin_ws/devel/setup.bash
roslaunch my_robot teleop.launch

What to expect

  • Slowly take a tour in the environment and make closed cycles, you will notice that the grid map is being drawn along with some loop closure constrains is been detected.
  • After taking a tour you will notice that your map is saved to ~/.ros/rtabmap.db
  • You can examine this map database using rtabmap-databaseViewer ~/.ros/rtabmap.db
  • Here is the rtabmap.db database so you can examine it.

Screenshots

Updated Robot and environment
figure 1: Updated robot and environment
:--:
Rtabmap Database viewer
figure 2: RTabmap Database viewer showing samples from the resulted database.