Mobile robot

• You need robot_localization installed in your workspace

git clone -b noetic-devel https://github.com/cra-ros-pkg/robot_localization.git

• You need orb_slam2_ros installed in your workspace

git clone https://github.com/appliedAI-Initiative/orb_slam_2_ros.git

• You need octomap_mapping installed in your workspace

git clone -b kinetic-devel https://github.com/OctoMap/octomap_mapping.git

• You need aruco_detect installed in your workspace

git clone https://github.com/UbiquityRobotics/fiducials.git

• Install all required dependencies. Run it from your catkin folder

sh src/cart_robot/install_dependencies.sh

• Build it

catkin build

Generate ArUco markers for Gazebo

• Run it from cart_robot folder

sh generate_gazebo_models.sh