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README.md

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Overview

This package is in active development. Proceed with caution.

stretch_rtabmap provides RTAB-MAPPiNG. This package utilizes rtab-map, move_base, and AMCL to map and drive the stretch RE1 around a space. Running this code will require the robot to be untethered.

Setup

Use rosdep to install the required packages.

    cd ~/catkin_ws/src
    git clone https://github.com/hello-robot/stretch_ros -b dev/noetic
    git clone https://github.com/pal-robotics/realsense_gazebo_plugin
    cd ~/catkin_ws
    rosdep install --from-paths src --ignore-src -r -y
    catkin_make

Running Demo

Gazebo

    roslaunch stretch_rtabmap gazebo.launch
    roslaunch stretch_rtabmap start_rtab.launch sim:=true localization:=false move_base_config:=3d
    roslaunch stretch_rtabmap rviz_rtab.launch mapping:=true

Stretch RE1

    roslaunch stretch_rtabmap start_rtab.launch sim:=false localization:=false move_base_config:=3d
    roslaunch stretch_rtabmap rviz_rtab.launch mapping:=true

Code Status & Development Plans

Move_base_config Gazebo Stretch RE1
2d Okay Good
2d_unkown Working Working
3d Okay Good
3d_unkown Working Working

License

For license information, please see the LICENSE files.