| Table of Contents |
|---|
...
Note: This document is work-in-progress. Feel free to contact us at klaus@lp-research.com or yasmine@lp-research.com for feedback and corrections.
We are on Slack, please join the discussion! Please email us to request access.
Some Advantages of Visual SLAM
...
| Code Block |
|---|
cd ~/tb3_ws/src git clone -b lpr-stereo https://github.com/ItsJas/turtlebot3_simulations.git git clone -b lpslam-integration https://github.com/ItsJas/turtlebot3.git cd .. rosdep install --from-paths src --ignore-src -r cd .. colcon build source ./install/setup.bash |
...
Run the tb3 simulation with the waffle_stereo model
| Code Block |
|---|
source /usr/share/gazebo/setup.bash
export TURTLEBOT3_MODEL=waffle_stereo
ros2 launch turtlebot3_gazebo turtlebot3_house.launch.py |
Source the lpslam and lpslam_interfaces packages then run the lpslam node with the proper configuration.
For the configuration files, make sure to change the path for configFromFile and vocabFile here.
| Code Block |
|---|
source path_to_lpslam_ws/lpslam_interfaces/install/setup.bash source path_to_lpslam_ws/lpslam_node/install/setup.bash ros2 launch turtlebot3_lpslam lpslam_gazebo.launch.py |
...