Map-my-world

This project we will create a 2D occupancy grid and 3D octomap from a simulated environment using our own robot and sensors with the RTAB-Map package.

rtabmap_ros

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. Most importantly, the quality of the documentation on ROS Wiki (http://wiki.ros.org/rtabmap_ros) is very high.

The recommended robot configuration requires:

1. A 2D Laser, providing sensor_msgs/LaserScan messages
2. Odometry sensors, providing nav_msgs/Odometry messages
3. 3D Camera, compatible with openni_launch, openni2_launch or freenect_launch ROS packages

Demo Videos and Images

👉 Map-my-world

Gazebo View

2D Map

3D Map

Occupancy Grid Map

Detected Feature

🗃 Project structure

├── images
├── my_robot
│   ├── CMakeLists.txt
│   ├── config
│   │   ├── base_local_planner_params.yaml
│   │   ├── costmap_common_params.yaml
│   │   ├── global_costmap_params.yaml
│   │   ├── local_costmap_params.yaml
│   │   └── __MACOSX
│   ├── launch
│   │   ├── amcl.launch
│   │   ├── localization.launch
│   │   ├── mapping.launch
│   │   ├── robot_description.launch
│   │   └── world.launch
│   ├── maps
│   │   ├── my_robot.pgm
│   │   ├── my_robot.yaml
│   │   ├── rtabmap.pgm
│   │   └── rtabmap.yaml
│   ├── meshes
│   │   └── hokuyo.dae
│   ├── model
│   │   ├── aws_robomaker_warehouse_TrashCanC_01
│   │   │   ├── materials
│   │   │   │   └── textures
│   │   │   │       └── aws_robomaker_warehouse_TrashCanC_01.png
│   │   │   ├── meshes
│   │   │   │   ├── aws_robomaker_warehouse_TrashCanC_01_collision.DAE
│   │   │   │   └── aws_robomaker_warehouse_TrashCanC_01_visual.DAE
│   │   │   ├── model.config
│   │   │   └── model.sdf
│   │   ├── aws_robomaker_warehouse_WallB_01
│   │   │   ├── materials
│   │   │   │   └── textures
│   │   │   │       └── aws_robomaker_warehouse_WallB_01.png
│   │   │   ├── meshes
│   │   │   │   ├── aws_robomaker_warehouse_WallB_01_collision.DAE
│   │   │   │   └── aws_robomaker_warehouse_WallB_01_visual.DAE
│   │   │   ├── model.config
│   │   │   └── model.sdf
│   │   └── ball
│   │       ├── model.config
│   │       └── model.sdf
│   ├── package.xml
│   ├── rviz
│   │   └── my_robot_config.rviz
│   ├── urdf
│   │   ├── my_robot.gazebo
│   │   └── my_robot.xacro
│   └── worlds
│       ├── empty.world
│       ├── no_roof_small_warehouse.world
│       ├── test_world.world
│       ├── UdacityOffice_withball.world
│       └── UdacityOffice.world
└── README.md

🖖 Quick Start

mkdir -p catkin_ws/src && pushd catkin_ws/src
git clone https://github.com/nullbyte91/map-my-world.git
cd ..

# Build package
catkin_make

# Terminal 1
source devel/setup.bash
export GAZEBO_MODEL_PATH=`rospack find my_robot`/model/:$GAZEBO_MODEL_PATH
roslaunch my_robot world.launch

# Terminal 2
source devel/setup.bash
roslaunch my_robot mapping.launch

# Terminal 3
source devel/setup.bash
roslaunch my_robot teleop.launch

# rtabmap viewer
rtabmap-databaseViewer ~/.ros/rtabmap.db

Reference

aws warehouse Model

rtabmap_ros