Setting up RGBDSLAM with ROS in the real world
1.) Plug the Kinect Sensor into the computer.
2.) Also plug the Pioneer 3dx into the computer.
3.) Also plug the joystick into the computer.
4.) Open a terminal and type:
roslaunch rgbdslam odometry.launch
spin up the openni2 node spin up the rgbdslam node
spin up the octomap server
opens rviz with all topics subscribed correctly
5.) Open another terminal and type:
sudo chmod 777 /dev/ttyUSB0 rosrun rosaria RosAria port:=/dev/ttyUSB0
Make the connection to the robot that will allow the control of the motors
6.) Open another terminal and type:
sudo chmod 777 /dev/input/js0 roslaunch joy_control pioneer_joy.launch
This is a controller that will allow the user to control the motors using a joystick.
7.) We are now ready to start SLAMMing. Put your focus on rgbdslam and press the spacebar
The mapping process will begin
8.) Use the joystick to begin moving the robot VERY SLOWLY.
The map will begin to grow. You will see Landmarks on the bottom left of the RGBDSLAM window and they will be showing the Visual Odometry.
9.) Press the Add button in RVIZ and go to the "by topic" tab. Scroll down and choose the "/project_map" topic.
RViz is now ready to visualize the map from the octomap server.
10.) In the RGBDSLAM window press CTRL+m
The pointclouds will be sent to the octomap server. Rviz will begin to populate a 2D map.
11.) When you are finished press the Spacebar in RGBDSLAM.
RGBDSLAM will stop processing
12.) To save the created map, open a terminal and type:
rosrun map_server map_saver -f map map:=projected_map
a map.pgm file and a map.yaml file will be save to file