https://github.com/daniel-m-campos/map-my-world

https://github.com/daniel-m-campos/map-my-world

ros udacity

Last synced: about 22 hours ago
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• Host: GitHub
• URL: https://github.com/daniel-m-campos/map-my-world
• Owner: daniel-m-campos
• Created: 2021-06-18T14:04:38.000Z (over 3 years ago)
• Default Branch: master
• Last Pushed: 2021-06-28T17:31:19.000Z (over 3 years ago)
• Last Synced: 2023-12-28T04:25:17.601Z (11 months ago)
• Topics: ros, udacity
• Language: Shell
• Homepage:
• Size: 699 KB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# Map-My-World Project

![](img/global_loop.png)

![](img/occupancy_grid.png)

![](img/3D_map.png)

### Install Requirements

This project requires `gcc>=9` due to the use of `C++17`.

```sh

$ git clone https://github.com/daniel-m-campos/map-my-world.git --recurse-submodules

$ cd map-my-world

$ source install-ubuntu.sh

```

### Build the workspace

```sh

$ cd /map-my-world/src

$ cd src

$ catkin_init_workspace

$ cd ..

$ catkin_make

```

### Launching

#### Gazebo World

```sh

$ cd /map-my-world

$ source devel/setup.sh

$ roslaunch my_robot world.launch

```

#### Teleop

Open a new terminal:

```sh

$ cd /map-my-world

$ source devel/setup.sh

$ roslaunch my_robot teleop.launch

```

#### Rtabmap

Open a new terminal:

```sh

$ cd /map-my-world

$ source devel/setup.sh

$ roslaunch my_robot mapping.launch

```

### Source Structure

```sh

map-my-world

├── config.rviz

├── download_data.sh

├── img

│   └── graph_view.png

├── install-ubuntu.sh

├── README.md

└── src

    ├── CMakeLists.txt -> /opt/ros/melodic/share/catkin/cmake/toplevel.cmake

    ├── my_robot

    ├── rtabmap_ros

    └── teleop_twist_keyboard

5 directories, 6 files

```