Rtab map Slam for my robot

[spaceship]

Hello I am new to slam and I am learning it!!
I am planning to use rtab map for my college project.I am interested in building an autonomous robot that can autonomously navigate in rooms of a floor.I will be only using a kinect sensor as my rgbd senor.No stereo camera no laser scanner.Suppose rtab map is used for this purpose.Then can someone tell me how does the mapping and navigation and also closure changes the odometry on the wheels of the robot?

Basically what I am asking is how does the actuators(wheels of the robot platform respond) to the slam that goes on in rtab map ?

I have tested the rtba map basic maping handled kinect tuorials on a computer on ubuntu 14.04 lts and ros indigo .But how to move forward with a more practical implementation on an actual robotic chasis?

I have lots of questions.But I think that this should be the starting point.

[matlabbe]

Hi,

I recommend to start with the navigation tutorials to setup your robot for navigation. You could then check after the RTAB-Map's turtlebot tutorial or this robot configuration example.

Note that without a LIDAR, the robot may relocalize less often (finding less loop closures) to correct the map, especially when the robot navigates in a previously mapped area with the camera facing in other direction than the previous traversal. With a LIDAR, the robot can detect loop closures in reverse direction (assuming the LIDAR has >=180 degrees FOV) to correct the map.

cheers,
Mathieu

[spaceship]

Thank you very much.I will definitely check out the tutorials and get back  you in case of queries and issues.One more thing I cant use a lidar .I only have a kinect sensor.But I will definitely try your robot configuration link that u have provided which creates a fake 2D  laser and get back to u

I wish you a merry Christmas and a  happy New Year 2016