Build Instructions

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• 1

  Build Your Own Version Of The Mikrik Robot

  First, follow the Tutorial to build and software setup a robot MIKRIK here. Make sure that you can launch ROS1 nodes on Raspberry, successfully launch bridge, and ping Raspberry and x86 robot host board with each other. After that you can continue with steps above.

  Here are demonstrated the detailed steps on how to deploy Visual SLAM for Simultaneous Localization And Mapping using Realsense camera technology and Intel Robotics SDK software.

  There are three modes:

  1. Mapping
  2. Localization
  3. Localization with navigation
• 2

  Change Default Realsense Namespace

  Remove unnecessary namespace 'camera'. Open with sudo file:

  sudo vi /opt/ros/humble/share/realsense2_camera/launch/rs_launch.py

  Delete default value 'camera' of the camera_namespace. Line below change from:

  {'name': 'camera_namespace',  'default': 'camera', 'description': 'namespace for camera'}

  to

  {'name': 'camera_namespace',  'default': '', 'description': 'namespace for camera'

• 3

  Mapping Mode using Robotics SDK

  Mapping mode will make possible to scan space around the robot and create a map.

  To have a high-quality map, drive robot very slowly.

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