Grid-based-FastSLAM

Setting up the enviroment:

For this project the following set up was used:

• Ubuntu 16.04 LTS OS
• Ros kinetic
• Gazebo 7.0.0
• Rviz 1.12.17

Installation steps:

• Clone this repository to your home directory:

$ git clone https://github.com/AndresGarciaEscalante/Grid-based-FastSLAM.git

• Review the documentation and dependecies of the Packages mentioned below.

Launch files

-Terminal 1 Launch the turtlebot in a Willow Garage environment

$ cd /home/workspace/catkin_ws
$ source devel/setup.bash
$ roslaunch turtlebot_gazebo turtlebot_world.launch world_file:=worlds/willowgarage.world 

Turtlebot should now appear in a Willow Garage environment.

-Terminal 2

Launch the keyboard teleop node

$ cd /home/workspace/catkin_ws
$ source devel/setup.bash
$ roslaunch turtlebot_teleop keyboard_teleop.launch

Don’t move your robot yet!

-Terminal 3

Run the slam_gmapping node

$ cd /home/workspace/catkin_ws
$ source devel/setup.bash
$ rosrun gmapping slam_gmapping

The node should start registering your first scan.

-Terminal 4

Run rviz and subscribe to different published topics to visualize the map

$ rosrun rviz rviz

Edit the rviz configuration as follows:

Change the Fixed Frame to map
Keep Reference Frame as default
Add a RobotModel
Add a camera and select the /camera/rgb/image_raw topic
Add a map and select the /map topic

Now, map the environment by driving your robot using keyboard commands. -Terminal 5

Save a map of the environment and share it with your classmates

$ cd /home/workspace/ $ rosrun map_server map_saver -f myMap

Project Outcome

For more details of the project please refer to the following video: Grid-based-FastSLAM