5.4 Setup Mapping Mode Visual SLAM

Collab Visual SLAM mapping is done using two ROS2 nodes: univloc_tracker and univloc_server, each of them has a separate launch file.

Please, read more about Collab SLAM here.

Step 5.4.1 Make a copy of the Univloc Tracker Launch file:

sudo cp /opt/ros/humble/share/univloc_tracker/launch/tracker.launch.py /opt/ros/humble/share/univloc_tracker/launch/tracker_mikrik.launch.py

Step 5.4.2 Open newly created file using sudo:

sudo vi /opt/ros/humble/share/univloc_tracker/launch/tracker_mikrik.launch.py

In L21 replace string:

configFilePath = os.path.join(get_package_share_directory('univloc_tracker'),'config','tracker.yaml')

with the string that leads to the new config file in a folder cloned from my Github repo:

configFilePath = '/home/<your-username-here>/mikrik_robotics_sdk/tracker_configs/mikrik_robot_tracker.yaml'

Tracker file is ready. 

Make sure that path <your-username-here> to the config file mikrik_tracker.yaml is the correct one.

Now you have to edit Univloc Server launch file.

Step 5.4.3 Make a copy of the file Univloc Server launch file.

sudo cp /opt/ros/humble/share/univloc_server/launch/server.launch.py /opt/ros/humble/share/univloc_server/launch/server_mikrik.launch.py

Step 5.4.4 Open the server file using sudo:

sudo vi /opt/ros/humble/share/univloc_server/launch/server_mikrik.launch.py

Replace in a newly created file L104 from

rviz_config = os.path.join(get_package_share_directory('univloc_server'), 'config', 'rviz2_server.rviz')

to

rviz_config = '/home/<your-username-here>/mikrik_robotics_sdk/rviz_configs/mikrik_server_localization_nav2.rviz'

Step 5.4.5 Make sure that inside the bridge launch script is the correct path to the sourced files.

Open file, and replace sample file names with your system specific file names, path, and Ethernet IP address.

vi ~/mikrik_robotics_sdk/scripts/mikrik_bridge_launch.sh

Step 5.4.6 Make script executable

cd ~/mikrik_robotics_sdk/scripts/
sudo chmod u+x realsense_collabslam_mapping.sh