RoboND-SLAM

Creating a 2D occupancy grid and 3D octomap for robots

Writeup

Writeup is available here.

Steps to run

• Create catkin workspace Eg:

  mkdir -p catkin_ws/src
  

• Clone the repository into the src folder

  cd catkin_ws/src
  git clone https://github.com/navinrahim/RoboND-SLAM.git
  cd ..
  catkin_make
  source devel/setup.bash
  

• Launch the robot in the world

  • For Kitchen World,

    roslaunch slam_project udacity_world.launch world_file:=/home/workspace/catkin_ws/src/
      RoboND-SLAM/udacity_bot/worlds/kitchen_dining.world
    

  • For Custom World,

    roslaunch slam_project udacity_world.launch world_file:=/home/workspace/catkin_ws/src/
      RoboND-SLAM/udacity_bot/worlds/custom_map.world.world
    

• Launch the teleop node to move the robot,

  roslaunch slam_project teleop.launch
  

• Launch mapping node to start mapping

  roslaunch slam_project mapping.launch