Turtlebot3 3D-SLAM using RTAB-Map with Jetson TX2

Sample repository for creating a three dimensional map of the environment in real-time and navigating through it. Object detection using YOLO is also performed, showing how neural networks can be used to take advantage of the image database stored by RTAB-Map and use it to e.g. localize objects in the map.

Quick Start:

mkdir catkin_ws/src -p
cd catkin_ws
wstool init src
wstool merge -t src https://raw.githubusercontent.com/ROBOTIS-JAPAN-GIT/turtlebot3_slam_3d/master/.rosinstall
wstool update -t src
rosdep install -y -r --from-paths src --ignore-src
catkin build turtlebot3_slam_3d

Launching Demo Program

Download one of the bag files:

# Small version (300MB)
https://drive.google.com/a/robotis.com/uc?export=download&confirm=SLgY&id=1sfMhQV5ipJm0ghrvQ8HpOw2tTr179aiP

# Full version (1.2GB)
https://drive.google.com/a/robotis.com/uc?export=download&confirm=BkOw&id=1BUQdcuxshEC-W6O9Jkel6sUP9-FxkLca

Setup the environment with:

cd catkin_ws
source devel/setup.bash
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/src

Then, launch the sample mapping demo with the following. It takes a while to load the nodes and to play the bag file.

roslaunch turtlebot3_slam_3d demo_bag.launch bag_file:=/absolute/path/to/bag_file.bag

Default bag_file path is set to turtlebot3_slam_3d/rtab_bag.bag.

Map is saved to ~/.ros/rtabmap.db as default setting.

Run with Turtlebot3

Hardware Components:

Main Components:

• Turtlebot3 Waffle
• Jetson TX2
• ZED Mini or Intel RealSense D435

Other Components:

• 19V Battery for Jetson TX2
• USB Hub with micro-B connector
• 3 Additional Waffle Plates
• 9 Additional Plate Supports M3x45
• M3x8 Bolts
• Camera Stand

Software Components:

ZED Mini Software Setup

Download ZED SDK for Jetson TX2 from https://www.stereolabs.com/developers/. Then, build the ROS wrapper with:

cd catkin_ws
catkin build zed_wrapper

Intel RealSense D435 Software Setup

Run the installation script from jetsonhacks to install the RealSense SDK on Jetson TX2:

cd catkin_ws/src/buildLibrealsense2TX
./installLibrealsense.sh 

Then, build the ROS wrapper with:

cd catkin_ws
catkin build realsense2_camera

Launch Files:

First, setup the environment:

cd catkin_ws
source devel/setup.bash
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/src

To create your own map, run:

roslaunch turtlebot3_slam_3d turtlebot3_slam_3d.launch

To navigate through your map use:

roslaunch turtlebot3_slam_3d turtlebot3_zed_bringup.launch
roslaunch turtlebot3_slam_3d rtabmap.launch localization:=true

With Intel RealSense D435, use the following instead:

roslaunch turtlebot3_slam_3d turtlebot3_slam_3d.launch use_zed:=false

roslaunch turtlebot3_slam_3d turtlebot3_d435_bringup.launch
roslaunch turtlebot3_slam_3d rtabmap.launch localization:=true use_zed:=false