No version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 0.0.0
License TODO: License declaration
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ninamwa/kmriiwa_ws.git
VCS Type git
VCS Version eloquent
Last Updated 2020-06-10
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

TODO: Package description

Additional Links

No additional links.

Maintainers

  • nina

Authors

No additional authors.

1. Description

This package is used for performing realtime SLAM and creating a map together with the KMR iiwa. Both the packages Cartographer and RTAB-Map can be used.

2. Requirements

The following packages needs to be installed:

  • Cartographer
  • Cartographer_ros
  • RTAB-Map
  • rtabmap_ros (ROS wrapper for RTAB-Map)
  • Nav2_map_server (for saving the maps - it is a part of the Navigation2 package)

3. Run

To launch Cartographer, run:

$ ros2 launch kmr_slam cartographer.launch.py

To launch RTAB-Map, run:

$ ros2 launch kmr_slam rtabmap.launch.py 

The communication with the KMR must be started, and the robot can be driven around manually by using the implemented keyboard:

$ ros2 run kmr_navigation2 twist_keyboard.py 

If you want to save the map which are created, this can be done by running the following command in a separate terminal:

$ ros2 run nav2_map_server map_saver

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged kmr_slam at Robotics Stack Exchange

No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.