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kmr_slam package from kmriiwa_ws repokmr_behaviortree kmr_bringup kmr_communication kmr_manipulator kmr_moveit2 kmr_msgs kmr_navigation2 kmr_simulation kmr_slam |
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | TODO: License declaration |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Repository for specialization project and master thesis in Robotics & Automation, at NTNU 2019/2020 |
| Checkout URI | https://github.com/ninamwa/kmriiwa_ws.git |
| VCS Type | git |
| VCS Version | eloquent |
| Last Updated | 2020-06-10 |
| Dev Status | UNKNOWN |
| 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
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common |
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.
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