Build Instructions

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• 1

  Build Your Own Version Of The Mikrik Robot

  Follow the Tutorial by mxlfrbt to build and setup a robot MIKRIK.

  Below I will share steps to deploy Visual SLAM (Simultaneous Localization And Mapping) perform in three modes:

  1. Mapping
  2. Localization
  3. Localisation 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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