RoboND-SLAM

ROS package that uses RTAB-Map to generate 3D maps of two different environments

Robot

The robot is a simulated model of a Waveshare Alphabot
with an RGBD camera controlled by the libgazebo_ros_openni_kinect plugin.

Installation

1. Copy the slam_bot folder into the src directory of your catkin workspace.
2. Install RTAB-Map with sudo apt-get install ros-<ros distro>-rtabmap-ros
3. Run catkin_make

Running

Once you've built and sourced the catkin workspace, run RTAB-Map with

src/launch/rtabmap-run

This script will start gazebo, rtabmap, rviz, and a teleop node.

Mapping

Once all of the nodes are launched, use the teleop terminal to steer the robot through the environment.
RTAB-Map keeps track of visual features in the environment, so it will recognize previously explored areas.
Give it a try!