Map_My_World_RTABMAP

How to use

In order to run this package follow this steps:

• Make directory for catkin workspace:

mkdir -p catkin_ws/src

• Go to the src directory and init catkin workspace:

cd catkin_ws/src
catkin_init_workspace

• Go to catkin_ws directory and pull this repository:

git init
git remote add origin link_to_this_repo
git pull
git checkout master

• Make catkin:

cd catkin_ws
catkin_make
source devel/setup.bash

• Run ROS:

roslaunch my_robot world.launch

* In another terminal run rtab-map:
```sh
cd catkin_ws
source devel/setup.bash
roslaunch my_robot mapping.launch

• If you want to use Teleop in third terminal write:

cd catkin_ws
source devel/setup.bash
rosrun teleop_twist_keyboard teleop_twist_keyboard.py

• Final map (database) is stored in default location:

~/.ros/rtabmap.db

• For viewing rtabmap.db:

rtabmap-databaseViewer ~/.ros/rtabmap.db

• RTABMAP_Viwer:

![](images/RTABMAP_Viewer.png)