VG-450 User Manual
7
RtabMap 3D Mapping Function
The started sh script is /src/R300/r300_simulation/sh/r300_simulation_rtabmap.sh.
The sh file contains the following parts:
1. Start the ros master node
2. Start R300 simulation, including simulation environment, UGV model, sensor
simulation, TF, etc.
3. Keyboard control node to control the movement of UGV
4. Rtabmap mapping function. This function mainly uses the visual image and the
depth image of the depth camera to make 3D mapping.
Open a terminal arbitrarily, drag the r300_simulation_rtabmap.sh file into the terminal
window, and a command to start the sh script will appear. Press Enter to start it.
Check the terminal window that pops up and whether the nodes in each terminal are
started normally. After confirming that the nodes are running normally, enter the
corresponding control instructions in the third keyboard-controlled terminal to control
the movement of the UGV for 3D mapping.
OctoMap 3D Mapping Function
The started sh script is /src/R300/300_simulation/sh/r300_simulation_octomap.sh.
The sh file contains the following parts:
1. Start the ros master node
2. Start R300 simulation, including simulation environment, UGV model, sensor
