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indoor_bot is simple differential drive robot for indoor environments simulated using GazeboSim and ROS. Currently, it simulates a 2D-LiDAR sensor, an IMU and a simple camera as gazebo plugins.

This package includes some demos explaining use of this package for SLAM and Localization.

GazeboSim	Cartographer-SLAM

GazeboSim	Autonomous-SLAM

Gazebo	Rviz

This package was developed for ROS-melodic. But should be compatible for other versions of ROS1.

1. Install ROS:http://wiki.ros.org/ROS/Installation

2. Install the packages by executing the following commands in your terminal:

   source /opt/ros/melodic/setup.bashsudo apt-get install ros-${ROS_DISTRO}-gazebo-*sudo apt-get install ros-${ROS_DISTRO}-navigationsudo apt-get install ros-${ROS_DISTRO}-joint-state-*sudo apt-get install ros-${ROS_DISTRO}-visualization-msgssudo apt-get install ros-${ROS_DISTRO}-cartographer-*sudo apt install ros-${ROS_DISTRO}-multirobot-map-merge sudo apt install ros-${ROS_DISTRO}-explore-litesudo apt-get install ros-${ROS_DISTRO}-teleop-twist-keyboard

3. Clone this repo and build the package.

   source /opt/ros/melodic/setup.bashmkdir -p~/catkin_ws/srccd~/catkin_ws/srcgit clone https://github.com/adipandas/indoor_bot.gitcd~/catkin_wscatkin_makesource devel/setup.bash

Launch SLAM and Map the environment using teleoperation.

source /opt/ros/melodic/setup.bashsource~/catkin_ws/devel/setup.bashroslaunch indoor_bot cartographer_slam_teleop.launch

Instead of manually building the map, you may prefer also try to use RRT-exploration to autonomously map the robot frontier. For more documentation, please referthis page.

source /opt/ros/melodic/setup.bashsource~/catkin_ws/devel/setup.bashroslaunch indoor_bot cartographer_slam_rrt_exploration.launch

Once mapping is complete use map-server to save the map. In onother terminal execute the following to save your map:

source /opt/ros/melodic/setup.bashsource~/catkin_ws/devel/setup.bashroscd indoor_botcd mapsrosrun map_server map_saver -f<robotworldname>

To localize using the map generated from SLAM you can use the following command:

source /opt/ros/melodic/setup.bashsource~/catkin_ws/devel/setup.bashroslaunch indoor_bot amcl_localization.launch map_file:=/path/to/map.yaml world_file:=/path/to/your_gazebo.world

1. ROS Navigation Stack:link
2. RRT exploration:link
3. Cartographer SLAM:link
4. teleop_twist_keyboard:link