cccccccc
/
stretch_ros
mirror of https://github.com/hello-robot/stretch_ros.git
1
0
Fork 0
Code Issues 0 Projects 0 Releases 0 Wiki Activity
You can not select more than 25 topics Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
489 Commits
46 Branches
3.5 GiB
 
 
Tree: 3a2d875a53
Branches Tags
${ item.name }
Create branch ${ searchTerm }
from '3a2d875a53'
${ noResults }
stretch_ros/stretch_rtabmap/README.md

1.4 KiB
Raw Blame History

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.