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RTAB-MAP IN ROS 101

Learn how to use the rtabmap_ros package for performing RGB-D SLAM

About the Course

RTAB-Map (Real-Time Appearance-Based Mapping) is a RGB-D SLAM approach based on a loop closure detector.

The loop closure detector uses a bag-of-words approach in order to determinate if a new image detected by an RGB-D sensor it is from a new location or from a location that it has been already visited.

Of course, this is a very summarized explanation, you will get more details on how this loop closure detector works inside this Course.For using this approach in ROS, there exists the following package: rtabmap_ros

The rtabmap_ros package is an implementation in ROS of the RTAB-Map approach. It basically allows us to work with the RTAB-Map approach in ROS. This is the package we will be working with during this Course.

What You Will Learn

1. Basics of RTAB-Map
2. How to use the rtabmap_ros package
3. How does loop closure detection work internally
4. How to create a 3D Map of an environment
5. Autonomous Navigation using RGB-D SLAM

1.5 hours

ROS Video Tutorials

Robots used in this course:

- TurtleBot 2 Simulation

Learning Path
Unit 1

Introduction to the Course

What is RTAB-Map
 (00:02 Hands on training)

Demo
 (00:02 Hands on training)

What you will learn with this Course
 (00:02 Hands on training)

Minimum requirements for the Course
 (00:02 Hands on training)

Special Thanks
 (00:02 Hands on training)

Unit 2

Basic Concepts

System Requirements
(00:08 Hands on training)

Data Visualization - RViz
(00:05 Hands on training)

Launching RTAB-Map
(00:05 Hands on training)

Subscribed Topics
(00:06 Hands on training)

Arguments
(00:06 Hands on training)

Unit 3

Autonomous Navigation with rtabmap_ros

Brief Introduction
(00:04 Hands on training)

Mapping Mode
(00:12 Hands on training)

Localization Mode
(00:12 Hands on training)

Autonomous Navigation
(00:12 Hands on training)

Unit 4

Final Recommendations

Keep Learning
(00:10 Hands on training)

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