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How to run BoWP-Map on your robot!

Description: This tutorial shows how to configure bowpmap_ros with any camera sensor(default: Kinect) on turtlebot2.

Keywords: bowpmap, bowpmap_ros, mapping, SLAM, topological mapping

Tutorial Level: INTERMEDIATE


The robot must be equipped with a RGB camera sensor either kinect (default) or any web camera. You should be able to publish the rgb images from this camera on a rostopic.

Step by Step method for BoWP-Map based loop closure detection

* Bring up your robot(turtlebot 2):

  •  $ roslaunch turtlebot_bringup minimal.launch

* Run openni. Launch kinect to publish rgb images on a ros topic.

  •  $ roslaunch openni_launch openni.launch
    • OR
  • If you are using any web camera, publish its rgb images on a topic and edit the topic name in bowp_mapping.launch.

* To run bowpmap_ros node for topological mapping, launch bowp_mapping.launch:

  •  $ roslaunch bowpmap_ros bowp_mapping.launch

* Teleoperate turtlebot to move the robot in the environment and capture the images:

 $ roslaunch turtlebot_teleop keyboard_teleop.launch

* As you move the robot in the environment, the algorithm will create nodes and recognize the previously seen places known as loop closure detection. You can see the results in a Result folder which will be created in your output directory. Each image will be either used to create a new node or it will be a loop closure with existing node. All the results will be available in the form of rostopic also (Loop Closure decision rostopic is /loopClosure and Corresponding Node Image rostopic is /loopClosureImage).

Wiki: bowpMap/Tutorial/SetupOnYourRobot (last edited 2015-11-30 12:55:20 by Prasun Pallav)