MapMyWorld

This is the third ROS project from the Udacity Robotics Software Engineer course.

Overview

The robot's task is to create a 2D occupancy grid and a 3D octomap from a simulated environment using the RTAB-Map (Real-Time Appearance-Based Mapping) ROS package.

License

The source code is released under an MIT license.

Author: Andres Campos

The packages: my_robot, teleop, and rtabmap_ros packages have been tested under ROS Kinetic on Ubuntu 16.04. This code is for personal learning and any fitness for a paticular purpose is disclaimed.

Installation

Installation from Packages

To install all packages from this repository as Debian packages use

sudo apt-get install ros-kinetic-...

Or use rosdep:

sudo rosdep install --from-paths src

Building from Source

Dependencies

• Robotics Operating System (ROS) (middleware for robotics)

sudo rosdep install --from-paths src

• RTAB-Map (creates a 2D occupancy grid map and/or a 3D octomap for navigation)

cd /catkin_ws/src
git clone https://github.com/introlab/rtabmap_ros.git

• teleop_twist_keyboard (allows the user to teleoperate a robot)

cd /catkin_ws/src
git clone https://github.com/ros-teleop/teleop_twist_keyboard.git

Building

To build from source, clone the latest version from this repository into your catkin workspace and compile this package using

cd catkin_workspace/src
git clone https://github.com/acampos074/MapMyWorld.git
cd ../
catkin_make

Usage

Navigate to the /src/scripts directory, and launch the shell script:

./map_my_world.sh

Launch files

• world.launch: Gazebo launch and world file
• mapping.launch: Launch file of the mapping node

Nodes

teleop_twist_keyboard

Published Topics

• /cmd_vel (geometry_msgs/Twist)

  Reads the user's keystroke commands and sends the corresponding linear and angular velocities to move the robot

rtabmap

Subscribed Topics

• /camera/rgb/camera_info (sensor_msgs/CameraInfo)

  RGB camera metadata.

• /camera/rgb/image_raw (sensor_msgs/Image)

  RGB/Mono image.

• /camera/depth/image_raw (sensor_msgs/Image)

  Registered depth image.

• /scan (sensor_msgs/LaserScan)

  Laser scan stream.

Published Topics

• /grid_map (nav_msgs/OccupancyGrid)

  Mapping Occupancy grid generated with laser scans.

Parameters

• subscribe_depth (bool,"true")

  Subscribe to depth image.

• subscribe_scan (bool,"true")

  Subscribe to laser scan.

• frame_id (string,"robot_footprint")

  Frame attached to the mobile robot.

• odom_frame_id (string,"odom")

  Frame attached to the odometry.

• database_path (string,"~/.ros/rtabmap_1.db")

  Path of the RTAB-Map's database.

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker