• ROS Melodic
• Gazebo 9
• RViz
• Teleop twist keyboard
• Hector SLAM
• GMapping
• RTAB-Map
• AMCL
• Map server
• PGM Map Creator

1. Clone this repo inside the src folder of a catkin workspace with the PGM Map Creator submodule: git clone --recurse-submodules https://github.com/hungarianrobot/Project-2-Mapping
2. Install libignition-math2-dev and protobuf-compiler to compile the map creator: sudo apt-get install libignition-math2-dev protobuf-compiler
3. Build workspace: catkin_make
4. Source environment: source devel/setup.bash

1. Start the Gazebo simulation: roslaunch hurba_mapping world.launch
2. Start the teleop package: roslaunch hurba_mapping teleop.launch
3. Start RViz and open the basic_view.rviz configuration.
4. Drive the robot inside the simulated environment. Note: this time the robot is omnidirectional instead of the previous diff drive!

1. Successfully build PGM Map Creator.
2. Copy the building.world Gazebo world file into src/pgm_map_creator/world/ folder.
3. Add <plugin filename="libcollision_map_creator.so" name="collision_map_creator"/> before the </world> tag.
4. Run Gazebo server with: gzserver src/pgm_map_creator/world/building.world.
5. Save the map with PGM Map Creator: roslaunch pgm_map_creator request_publisher.launch.
6. Copy the saved map.pgm to maps folder of the my_robot package and create a map.yaml with default values (see hurba_mapping/maps folder).

1. Start the Hector SLAM: roslaunch hurba_mapping hector_slam.launch
2. Start the teleop package: roslaunch hurba_mapping teleop.launch

1. Start the GMapping package: roslaunch hurba_mapping gmapping_slam.launch
2. Start the teleop package: roslaunch hurba_mapping teleop.launch

1. Start the RTAB-Map package: roslaunch hurba_mapping rtab_map_slam.launch
2. Start the teleop package: roslaunch hurba_mapping teleop.launch

Un-comment the rtabmapviz node in the rtab_map_slam.launch file. In the visualizer tool of RTAB-Map we can see the RGBD pointcloud of the environment:

After the mapping is done we can evaluate the database with RTAB-Map's database viewer, that can be started with the following command:

rtabmap-databaseViewer ~/catkin_ws/src/Project-2-Mapping/hurba_mapping/maps/database/rtabmap.db

Once open, we will need to add some windows to get a better view of the relevant information, so:

• Say yes to using the database parameters
• View -> Constraint View
• View -> Graph View

We can check the number of loop closures during the mapping using the bottom left information:

(283, 0, 29, 0, 0, 0, 0, 0, 0) Links(N, NM, G, LS, LT, U, P, LM, GR)

Where G means the number of Global Loop Closures. The codes stand for the following: Neighbor, Neighbor Merged, Global Loop closure, Local loop closure by space, Local loop closure by time, User loop closure, and Prior link.

 tree -L 3

├── README.md
├── documentation
│   ├── database.png
│   ├── frames.png
│   ├── gazebo.png
│   ├── gmapping.png
│   ├── hector.png
│   ├── rosgraph.png
│   ├── rtabmap.png
│   ├── rtabmapviz.png
│   └── rviz.png
├── hurba_mapping
│   ├── CMakeLists.txt
│   ├── launch
│   │   ├── amcl_localization.launch
│   │   ├── gmapping_slam.launch
│   │   ├── hector_slam.launch
│   │   ├── robot_description.launch
│   │   ├── rtab_map_slam.launch
│   │   ├── teleop.launch
│   │   └── world.launch
│   ├── maps
│   │   ├── database
│   │   ├── map_hector.yaml
│   │   ├── map.pgm
│   │   └── map.yaml
│   ├── meshes
│   │   ├── chassis.dae
│   │   ├── chassis.SLDPRT
│   │   ├── chassis.STEP
│   │   ├── hokuyo.dae
│   │   ├── wheel.dae
│   │   ├── wheel.SLDPRT
│   │   └── wheel.STEP
│   ├── package.xml
│   ├── rviz
│   │   ├── amcl.rviz
│   │   ├── basic_view.rviz
│   │   ├── gmapping_slam.rviz
│   │   ├── hector_slam.rviz
│   │   └── rtab_slam.rviz
│   ├── urdf
│   │   ├── hurba_mecanum.gazebo
│   │   └── hurba_mecanum.xacro
│   └── worlds
│       ├── basic_world.world
│       ├── building.model
│       ├── building.world
│       └── empty.world
└── pgm_map_creator
    ├── CMakeLists.txt
    ├── launch
    │   └── request_publisher.launch
    ├── LICENSE
    ├── maps
    │   ├── example_map.pgm
    │   └── map.pgm
    ├── msgs
    │   ├── CMakeLists.txt
    │   └── collision_map_request.proto
    ├── package.xml
    ├── README.md
    ├── src
    │   ├── collision_map_creator.cc
    │   └── request_publisher.cc
    └── world
        ├── building.world
        ├── MyWorld.world
        └── udacity_mtv