This is a simplified version of This repository๏ผ some modifications are made to preserve the basic mapping and localization functions in RGB mode that can be applied to ROS Neotic.
Ubuntu 20.04 LTS, ROS Neotic and Gazebo-11.
Clone this repository and construct file directory.
cd ~/
mkdir catkin_ws
cd catkin_ws
mkdir src
cd src
git clone https://github.com/bithuanglq/Neotic-AVP-Demo.git
cd Neotic-AVP-Demo/avp_slam_plus/model/
unzip my_ground_plane.zip -d ~/.gazebo/models/
cd ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.bash
To enable map saving and utilize it for localization purposes (this repository only take RGB mode for example), it is important to ensure that your configuration file has been correctly set. The config file is located at avp_slam_plus/config/configFile.yaml
mapSave: true
mapSaveLocation: your map file address (absolute path)
Start mapping
roslaunch avp_slam_plus slamRGB.launch
Open a new terminal and use keyboard to control robot
chmod 777 src/Neotic-AVP-Demo/simlate_gazebo/robot_control/scripts/robot_control.py
source ~/catkin_ws/devel/setup.bash
roslaunch robot_control robot_control.launch
If you have saved map as mentioned above, you can do localization based on your saved map.
roslaunch avp_slam_plus localizationRGB.launch
Open a new terminal and use keyboard to control robot
source ~/catkin_ws/devel/setup.bash
roslaunch robot_control robot_control.launch
Thanks for paper AVP_SLAM, and liuguitao's implementation.
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