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.) 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
4.) 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.
8.) Press the Add button in RVIZ and go to the "by topic" tab. Scroll down and choose the "/project_map" topic.
'''This will do the following:'''
RViz is now ready to visualize the map from the octomap server.
9.) In the RGBDSLAM window press CTRL+m
'''This will do the following:'''
The pointclouds will be sent to the octomap server. Rviz will begin to populate a 2D map.
10.) When you are finished press the Spacebar in RGBDSLAM.
'''This will do the following:'''
RGBDSLAM will stop processing
11.) To save the created map, open a terminal and type:
rosrun octomp_server octomap_saver mapfile.bt
'''This will do the following:'''
mapfile.bt will be saved to the cwd
12.) To Open this new map, open a terminal and type:
octovis mapfile.bt
'''This will do the following:'''
A map file viewer is opened and the mapfile is displayed.
