I have my own robot called Magni and after doing the RTABMap 101 course, I want to use what is inside to make my Magni to do RTAB Slam mapping and navigation as well but I’m stuck…,
This is the link to my rosjects and wonder if you could help please,
My personal robot only has a RPlidar A1, so it does not have kinect but I want to simulate it in your ROSJECT (before I actually implemented for real)…,
under link: Inmoov_base …I added the below:
<visual> <origin rpy="0 0 1.57075" xyz="0.03 -0.14 0.04"/> <geometry> <mesh filename="package://magni_description/meshes/kinect_sensor.stl" scale="0.01 0.01 0.01"/> </geometry> <material name="black"/> </visual> </link> <joint name="base_link_to_kinect" type="continuous"> <parent link="base_link"/> <child link="kinect"/> <origin xyz="-0.0065 0 0.139"/> <axis xyz="0 1 0"/> </joint>
In , magni_robot > I had added the magni_rtab package and inside the launch > there is the magni_RTABSLAM_Mapping.launch file.
(so to launch up it is: roslaunch magni_rtab magni_RTABSLAM_Mapping.launch)
inside this launch file > I’m loading the turtlebot’s coffee mod world into gazebo, also starting my magni robot and also rtabmap node for mapping…,
It loads up however, it keeps mentioning that the devices are not connected, and the camera link topics are lacking , compare to what Turtlebot has…,
This warning keeps popping up:
In the Robot Ignite Academy, I’m already provided with a working system, so in my personal system, I’m really lost in how to implement “Kinect + Odometry + Fake 2D Laser”, as mentioned in the course
I think I’m lacking the kinect and Fake 2D laser initializtion in my simulation …so that’s why RTAB mapping has failed to proceed…,
Can you please advise on what I’m missing in my rtab launch file or URDF…?
would be much appreciated, I’m really struggling to place what I learnt here on RTAB into my real robot.
I look forward to your reply, thank you