turtlebot2-tutorials

RGBDSLAM

RGBDSLAM is a RGB-D loop-closure graph-based SLAM approach using visual odometry and custom implementations of opencv methods

Prequisites

This section requires the catkin_ws to be initialized and the turtlebot_dabit package created.
Please click here to learn how to initialize the catkin workspace

Installation

This process has to be done on both master and turtlebot computers.

Download rgbdslam_v2 and configure dependencies

1. CD to catkin_ws, source the environment setup, and download rgbdslam_v2
   • cd ~/catkin_ws/src
   • git clone -b kinetic https://github.com/felixendres/rgbdslam_v2 rgbdslam
2. Remove any conflicting libraries
   • sudo apt remove ros-kinetic-libg2o libqglviewer-dev
3. Install build dependencies
   • sudo apt install cmake libeigen3-dev libsuitesparse-dev
4. Build and install a custom verison of g2o
   • cd ~/catkin_ws/src
   • git clone -b c++03 https://github.com/felixendres/g2o.git
   • mkdir g2o/build
   • cd g2o/build
   • cmake .. -DCMAKE_INSTALL_PREFIX=../install -DG2O_BUILD_EXAMPLES=OFF
   • nice make -j4 install
     • If your build fails, try the nice make -j4 install command again
5. Install the library dependencies of rgbdslam_v2 using rosdep
   • source ~/catkin_ws/devel/setup.sh
   • rosdep update
   • rosdep install rgbdslam
6. Build rgbdslam
   • export G2O_DIR=~/catkin_ws/src/g2o/install
   • cd ~/catkin_ws
   • catkin_make

Starting RGBDSLAM on the Turtlebot

On the Turtlebot laptop:

1. Open a new terminal
   1. source ~/catkin_ws/devel/setup.sh
   2. export G2O_DIR=~/catkin_ws/src/g2o
   3. roslaunch rgbdslam headless.launch

Visualizing RGBDSLAM data

On the master laptop, start the rgbdslam interface:

1. Open a new terminal
   1. source ~/catkin_ws/devel/setup.sh
   2. rosrun rgbdslam rgbdslam
2. Use the GUI to view the data from the rgbdslam node

Tuning RGBDSLAM Parameters

Coming soon, we are working out the best parameters to use with this Turtlebot setup

Troubleshooting

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