Xavier-SLAM-module

Warning: currently doesn't work on Xavier. Recommend platforms based on x86 architecture.

1. On your master computer, check master computer local IP address, and add it to your ~/.bashrc file

gedit ~/.bashrc
export ROS_MASTER_URI=http://<masterIP>:11311
export ROS_IP=<masterIP>
source ~/.bashrc

2. Then, launch roscore (or launch Rviz to view octomap data)

roscore

or

source devel/setup.bash
roslaunch realsense_node_python octomap_viewer.launch

3. Log into your mobile computer of choice

ssh <username>@<mobileIP>

4. On your mobile computer, check mobile computer local IP address, and add it to your ~/.bashrc file

gedit ~/.bashrc
export ROS_MASTER_URI=http://<masterIP>:11311
export ROS_IP=<mobileIP>
source ~/.bashrc

5. Then, launch octomap

source devel/setup.bash
roslaunch realsense_node_python octomap_realsense.launch

Octomap resolution and other parameters can be changed in octomap_realsense launch file.

Used repositories:

• realsense_nodes_python
• Multiple-Realsense-D435
• octomap_mapping