ROS Melodic Workspace

The below codebase is a ROS melodic workspace that contains a variety of packages for simultaneous localization and mapping (SLAM). Workspace is for testing various SLAM methods(Gmapping, Karto, Hector, Cartographer etc).The codebase is well-organized and easy to use. It includes a number of tutorials that provide instructions on how to use the SLAM packages. The codebase is a valuable resource for anyone who wants to learn about SLAM or who wants to use SLAM in their own projects.

Table of content

• Installation
• Package description
• Helper scripts
• Team
• Contributing
• FAQ
• Support
• License
• Acknowledgments

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Installation

All the code required to get started

• Prerequisite

  • You should have ROS melodic on your ubuntu 18.04.
  • All ROS dependency is satisfied.

• Clone

  git clone https://github.com/iamrajee/slam_rosmelodic_ws.git
  

• Setup

  cd slam_rosmelodic_ws/
  ./refresh.sh
  make
  

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Package description

Here are some details about the packages in the codebase:

gmapping: gmapping is a 2D SLAM package that uses a Rao-Blackwellized particle filter. It is a popular choice for SLAM applications that require low computational resources.

hector_slam: Hector_slam is a 2D SLAM package that uses a Hector laser scanner odometry and mapping algorithm. It is a good choice for SLAM applications that use a laser scanner.

slam_gmapping: slam_gmapping is a 2D SLAM package that combines the gmapping and Hector SLAM packages. It is a good choice for SLAM applications that require the best of both worlds.

cartographer: cartographer is a 3D SLAM package that uses a probabilistic graph SLAM algorithm. It is a good choice for SLAM applications that require high accuracy and robustness.

The codebase also includes a number of other packages that are used to support the SLAM packages, such as:

tf: A package that provides a transformation framework for ROS.

nav_msgs: A package that provides messages for navigation.

sensor_msgs: A package that provides messages for sensor data.

• test_slam

  Mapping

  To do mapping run slam.launch file along with telop. Also, you can which slam_method to use among [Gmapping, Karto, Hector, Cartographer].

  Run

  Terminal 1: roslaunch test_slam slam.launch slam_method:=gmapping          #here gmapping is default
  

  Terminal 2: roslaunch test_slam teleop.launch
  

  Navigation

  After mapping you can run navigation by running navigation.launch file.

  Run

  Terminal: roslaunch test_slam navigation.launch
  

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Helper Scripts

• refresh.sh

  #!/bin/bash
  source /opt/ros/melodic/setup.bash
  source devel/setup.bash
  clear
  

  It will source the workspace after buiding workspace or after creating new pkg. Run it as ./refresh.sh

• makefile

  SHELL=/bin/bash
  all:
      make run
  run:
      catkin_make
      bash refresh.sh
  

  It will build the workspace . Run it as make

• createpkg.sh

  #!/bin/bash
  cd src/
  catkin create $1
  cd ../
  make
  source refresh.sh
  

  It will create new package . Run it as ./createpkg.sh newpkg_name

• tftree.sh

  #!/bin/bash
  rosrun rqt_tf_tree rqt_tf_tree
  

  It will launch the gui to visvualise the tf tree. Run it as ./tftree.sh

• printenv.sh

  #!/bin/bash
  printenv | grep -i ROS
  

  It will print the ROS related environment variable . Run it as ./printenv.sh

• rosdep.sh

  sudo rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
  

  It will install dependencies of all pkg in the workspace. Run it in the workspace as ./rosdep.sh

• ssh_into_another_computer.sh

  #!/bin/bash
  ssh rajendra@rajendra
  

  It will ssh into another system. Useful when using multiple ros masters. Run it as ./ssh_into_another_computer.sh

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Team

Or Contributors/supporters/mentors/guides who helped me out in these projects.

Rajendra Singh	Sachin Rustagi	S M Rafi

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Contributing

To get started...

Step 1

• Option 1

  • 🍴 Fork this repo!

• Option 2

  • 👯 Clone this repo to your local machine using https://github.com/iamrajee/slam_rosmelodic_ws.git

Step 2

• HACK AWAY! 🔨🔨🔨

Step 3

• 🔃 Create a new pull request using https://github.com/iamrajee/slam_rosmelodic_ws/compare/.

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FAQ

• I ran into some issue while running above package, what to do now?
  • Simply contact me!

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Support

Reach out to me for any help!

	Name : Rajendra Singh Email : singh.raj1997@gmail.com Web : https://iamrajee.github.io/ LinkedIn : https://www.linkedin.com/in/rajendra-singh-6b0b3a13a/ Twitter: @i_am_rajee

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License

• MIT license
• Copyright (c) 2019 Rajendra Singh.

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Acknowledgments

• Hat tip to anyone whose code was used and thanks to everyone who inspired and supported me in this project.