Localisation and Map Merging

Pre-requisite for SLAM simulation environment

Table of Contents

• Getting Started
  • Installation
    • Installation for Ubuntu 16.04 and ROS Kinetic
  • Run the Fouliex_Bot Gazebo Simulation
• Troubleshooting
• Advanced
  • Message Flows

Getting Started

Installation

Installation for Ubuntu 16.04 and ROS Kinetic

This is a step-by-step guide to install and build all the prerequisites for running this module on Ubuntu 16.04. You might want to skip some of them if your system is already partially installed.

1. Add ROS to sources.list.

   echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list
   sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
   sudo apt update

2. Install gazebo with ROS.

   sudo apt install ros-kinetic-desktop-full
   
   # Source ROS
   source /opt/ros/kinetic/setup.bash

Full installation of ROS Kinetic comes with Gazebo 7.

If you are using different version of Gazebo,

please make sure install ros-gazebo related packages

For Gazebo 8,

sudo apt install ros-kinetic-gazebo8-*

For Gazebo 9,

sudo apt install ros-kinetic-gazebo9-*

3. Initialize rosdep.

   rosdep init
   rosdep update

4. Install catkin and create your catkin workspace directory.

   sudo apt install python-catkin-tools
   mkdir -p ~/catkin_ws/src

5. Install module dependencies (pointcloud library and octomap).

   sudo apt install libpcl1 ros-kinetic-pcl-ros* ros-kinetic-yaml-*

6. Clone this repository in your catkin workspace in order to build the node.

   cd ~/catkin_ws/src
   git clone https://github.com/Shubham-Sahoo/Map-merge.git

7. Actually build the icp-matching node.

   catkin build -w ~/catkin_ws

   Note that you can build the node in release mode this way:

   catkin build -w ~/catkin_ws --cmake-args -DCMAKE_BUILD_TYPE=Release

8. Source the catkin setup.bash from your catkin workspace.

   source ~/catkin_ws/devel/setup.bash

Run the Fouliex_Bot Gazebo Simulation

In the following section we guide you through installing and running a Gazebo simulation.

Build and Run the Simulator

9. Clone the repository and its submodules (it may take some time).

   cd ~/catkin_ws/src
     git clone https://github.com/fouliex/MapAWorldWithSlamAndACustomRobot.git

10. Build the project

    cd ~/catkin_ws
    catkin_make
    source ~/catkin_ws/devel/setup.bash
    
    

Complete list is available on Map_a_World_with_SLAM