Project Racer

Installation

 sudo apt-get install ros-kinetic-navigation
 sudo apt-get install ros-kinetic-map-server
 sudo apt-get install ros-kinetic-move-base
 rospack profile
 sudo apt-get install ros-kinetic-amcl

cd ~/catkin_ws
catkin_make

Usage

main.launch contains all the launch sequence without opening multiple terminals.

cd ~/catkin_ws
source devel/setup.bash
roslaunch racer_bot main.launch

To get the RTABMSLAM mode running

roslaunch racer_bot main_rtatslam.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/realsense/camera/depth/image_raw rgb_topic:=/realsense/camera/color/image_raw camera_info_topic:=/realsense/camera/color/camera_info odom_topic:=/odom