The resultant map on running SLAM on RoboOfficeWorld can be found here: rtabslam-db-file

This project aims to perform SLAM on a robot housed in a Gazebo world using rtabmap_ros package.

Keywords: slam, rtab-slam, localization, mapping.

Author: Rutvik Patel

The my_robot package has been tested under [ROS] Kinetic on Ubuntu 16.04.7 LTS (Xenial Xerus). This is prototype code, expect that it won't be maintained for future ROS versions.

The project has been developed and tested on Ubuntu 16.04 LTS with ROS Kinetic.

• Install rtabmap_ros package using the command sudo apt install ros-kinetic-rtabmap-ros

Use catkin_make to build the packages from source and source the workspace using source devel/setup.bash to add the files to path.

Run the following commands in separate terminals:

• Launch the world in Gazebo: roslaunch my_robot world.launch
• Launch the teleop node for keyboard control: roslaunch my_robot teleop.launch
• Launch the RTAB-Map mapping node: roslaunch my_robot mapping.launch

View the map using the command: rtabmap-databaseViewer ~/.ros/rtabmap.db
If you used a custom file path use that in the above command.

• ROS
• rviz
• rtabmap_ros