Description

Google Cartographer has an integration with ROS from its cartographer_node and also outputs an occupancy grid. It takes in stereo/points2 from the stereo cameras and coverts its data to laserscan in order to create a map which can be displayed and saved on rviz.

INTRO

This guide assumes three things:

  1. ROS is setup properly and configured

  2. The husky_ws is setup using the previous step and the .bashrc has been setup properly for said workstation

    1. Git (start at the Install Git on Linux section)

  3. The stereo camera is properly configured

  4. Google Cartographer was properly installed

  5. The launch file is downloaded from the https://github.com/CSUN-SERL/Control-Mapping-SARWAI

  6. camera_install.sh has been installed properly

Steps

  1. Run the Launch File provided from the https://github.com/CSUN-SERL/Control-Mapping-SARWAI

    1. roslaunch husky_gazebo husky_slam_simulation_kinect2.launch

  2. Run the keyboard to maneuver the husky

    1. rosrun custom_keyboard_interface custom_keyboard_interface.py

Expected Results

You should be able to maneuver the Husky inside rviz using the keyboard interface. Make sure you are currently selecting the terminal with the keyboard active in order to m<Insert terminal>ove the husky. The map generation is expected to look similar to the screenshots below.

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