Simultaneous Localization and Mapping

Simulation of a differential drive robot which can perform autonomous navigation.

Prerequisites

• ROS
• Gazebo
• Turtlebot3

Getting Started

1. Clone this repository.
2. Run catkin_make.
3. Run source slam_ws/devel/setup.bash.

Mapping

• Run roslaunch slamBot_gazebo slamBot_test_world.launch to launch the world in gazebo
• In a separate terminal run roslaunch slamBot_navigation slamBot_slam.launch slam_methods:=gmapping to start building the map. This also launches rviz.
• In a separate terminal run roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch to start the teleoperation of the robot
• Move the robot around steadly to generate a map.
• In a separate terminal run rosrun map_server map_saver -f /tmp/test_map to save the map in a yaml file.

Localization

• Launch the gazebo world by running roslaunch slamBot_gazebo slamBot_test_world.launch
• In a separate terminal run roslaunch slamBot_navigation slamBot_navigation.launch map_file:=/tmp/test_map.yaml, to start navigation in the map
• In rviz, estimate initial pose by 2D Pose Estimate
• In a separate terminal run roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch to start the teleoperation of the robot. You'll see that the estimate of robot's pose will coverge pretty quickly.

References

This work was done taking reference from here