ROS2 RTAB-Map 시뮬레이션

 

1. RTAB-Map 설치

sudo apt install ros-$ROS_DISTRO-rtabmap-ros
sudo apt install ros-$ROS_DISTRO-rmw-cyclonedds-cpp

 

 

`~/.bashrc` 또는 `~/.zshrc` 에 추가

## RTAB-Map's logging with RCLCPP's logs
export RCUTILS_LOGGING_USE_STDOUT=1
export RCUTILS_LOGGING_BUFFERED_STREAM=1
# Optional, but if you like colored logs:
export RCUTILS_COLORIZED_OUTPUT=1

## RTAB-Map's GUI with Cyclone DDS
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

 

 

2. RTAB-Map 시뮬레이션

아래의 명령어들은 터미널 창을 각각 띄워 실행시킨다.

 

2.1 RTAB-Map 실행

export TURTLEBOT3_MODEL=waffle
ros2 launch rtabmap_demos turtlebot3_sim_scan_demo.launch.py

 

다른 데모는 https://docs.ros.org/en/humble/p/rtabmap_demos/index.html 에서 확인할 수 있다.

 

2.2 Keyboard Teleoperation

export TURTLEBOT3_MODEL=waffle
ros2 run turtlebot3_teleop teleop_keyboard

 

 

 

 

3. 시뮬레이션 결과

3.1 Mapping

 

 

3.2 Localization