Generate the map of environment in ROS

Paper

RTAB-Map as an Open-Source Lidar and Visual SLAM Library for Large-Scale and Long-Term Online Operation

Important: the project does not implement the paper, but uses the paper to answer some questions. Paper is just as a reference for better understanding.

About

In the project, we use RTAB-Map to build the 3-dimentional map of the robot environment.

To get more about RTAB-Map you can see the official wiki page of the project.

RTAB-Map is only one of many algorithms. If you want to get familiar with other, check the following paper Comparison of Various SLAM Systems for Mobile Robot in an Indoor Environment.

Current project just provides an example how you can run RTAB-Map inside the Gazebo simulation.

Implementation

For the implementation we will use rtabmap_ros ROS node.

Envorinment

To implemet and verify we use Gazebo. It is a free tool for robot simulation.

Code

All code is available on the Github