For this project the following set up was used:

• Ubuntu 16.04 LTS OS
• Ros kinetic
• Gazebo 7.15.0
• Rviz 1.12.17

• Clone this repository to your home directory:

$ git clone https://github.com/AndresGarciaEscalante/Real-Time-Appearance-Based-Mapping.git

• Make sure you have the rtabmap package installed.

• Execute the following commands to setup the environment:

$ catkin_make
$ source devel/setup.bash

• Apply the following commands using different terminals:

Terminal 1

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

Terminal 2

$ source devel/setup.bash
$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py

Terminal 3

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

• Now you are able to drive the car using the keyboards and visualize the creation of the 3D Mapping. The rtabmap will generate a db file after ending the simulation, this file contains all the information performed by the RTAB during simulation. This file can be visualized using the command:

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

Contains the information of the gazebo world environment, robot's URDF. Additionally, it has all the launch files needed for the project.

RTAB-Map (Real-Time Appearance-Based Mapping) is a popular solution for SLAM to develop robots that can map environments in 3D. RTAB-Map has good speed and memory management, and it provides custom developed tools for information analysis.

For more detailed information please refere to the following link: RTAB-Map Package

This package provides the control of velocity and movement of the car in the Gazebo environment.

For more detailed information please refere to the following link: ROS Teleop Package

Create a 2D occupancy grid and 3D octomap from a simulated environment using a robot with the RTAB-Map package.

After the simulation the db file should look as follows. This example is provided in the repository:

Important: Check full video in the following link to get a deeper understand of the project: RTAB-Map

• Create a single launch file to execute the project.