ROS: Robotino Base, Kinect, Mapping

Since we are using Robotino base, we have to install openrobotino into your laptop.svn co http://svn.openrobotino.org/trunk/ros

Packages: robotino_base, robotino_cam, robotino_local_move, robotino_msgs,
robotino_navigation,robotino_start, robotino_teleop

ROS Kinect is an open source project focused on the integration of the Microsoft Kinect sensor with ROS.

Source: git https://github.com/ros-pkg-git/kinect.git

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ROS Gmapping

In order for the kinect to generate a map, we need to download the ROS Gmapping package.This package contains GMapping, from OpenSlam, and a ROS wrapper. The gmapping package provides laser-based SLAM (Simultaneous Localization and Mapping), as a ROS node called slam_gmapping.

Source: svn https://code.ros.org/svn/ros-pkg/stacks/slam_gmapping/trunk/gmapping

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In order not to run so many terminals at the same time, we created a ".sh" file with the command : vim kinect_mapping.sh

Next, we changed the properties of this file to make the file available to write, read and execute with the command : chmod 777 kinect_mapping.sh

This file is created with the intention of running several commands one after another, so that we do not need to open too many terminal box. Thus inside this file, we included the following:

• roslaunch robotino_base robotino_configuration_kinect.launch
• roslaunch robotino_teleop teleop_joystick.launch
• roslaunch ardros kinect_laser.launch
• rosrun gmapping slam_gmapping
• rosrun rviz rviz

An rviz window pops up, set fixed frame: /map , target frame: /openni_depth_optical. Add laser scan and map as well. Navigates the robot around the room. You will get something like this:

To save the map built, we typed in a command: rosrun map_server map_saver