Difference between revisions of "Setting up RGBDSLAM with ROS in the real world"

Revision as of 12:00, 3 February 2015

1.) Plug the Kinect Sensor into the computer. 2.) Also plug the Pioneer 3dx into the computer.

2.) Open a terminal and type:

  roslaunch rgbdslam openni+rgbdslam.launch

This will do the following:

spin up the openni2 node ​ spin up the rgbdslam node

spin up the octomap server

3.) Open another terminal and type:

  sudo chmod 777 ttyUSB0
 
  rosaria

This will do the following:

Make the connection to the robot that will allow the control of the motors

4.) Open another terminal and type:

  rosrun pioneer3dx 3dxControl

This will do the following:

This is a controller that will allow the user to control the motors.

5.) We are now ready to start SLAMMing. Put your focus on rgbdslam and press the spacebar

This will do the following:

The mapping process will begin

6.) Use the key controller to begin moving the robot VERY SLOWLY.

This will do the following:

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.

7.) Open a new terminal and type:

 rosrun rviz rviz

This will do the following:

RViz will be opened. This will allow us to view the 2d Map from the octomap_server.

To start rgbdslam press the spacebar. When you are finished you can stop the process by going to Processing->Process in the menu.

Next press Ctrl+m in rgbdslam

Now open a new terminal and type:

rosrun rviz rviz

Inside rviz press the Add button and add the Map topic.

Make sure to also change the Fixed frame to map.

That is all I have for now guys. I will be on Monday around 2 until 7 hopefully. I realize we need to start getting this thing rolling and will be placing proper priority on this. Please make sure the Kinect Sensor is there on Monday so I can use it. I will be working on refining the 2D map to make a proper ground truth map and also finding out how to save the 2d map.