How can I go from sim to real robot RGB-D SLAM?

[AngeloEspinoza]

Hi everyone. I just made a simulation where I am using a DDR robot mounted with a Intel Realsense D435i for the RGB-D SLAM, and along with ros2 launch rtabmap_demos turtlebot3_rgbd_scan.launch.py launch file I am able to do it, as the topics that I'm publishing are pretty much the same as the one in ros2 launch rtabmap_demos turtlebot3_sim_rgbd_demo.launch.py. Everything is working correctly so far. But now, I wanna make the SLAM on a real robot, and be able to send poses through nav2 so that the robot can reach a certain point.

My question is pretty much, how can I do this?

My launch files to do this in simulation are:
ros2 launch ddr_robot launch_sim.launch.py world:=src/differential-drive-robot-ros2/worlds/house.world simulation in Gazebo.
ros2 launch rtabmap_demos turtlebot3_rgbd_scan.launch.py The example given by rtabmap for a turtlebot.
ros2 launch nav2_bringup navigation_launch.py use_sim_time:=true for nav2 to work.
ros2 launch teleop_twist_joy teleop-launch.py joy_config:='xbox' for controlling the robot and mapping around.

I am using the realsense-ros wrapper, and have a real D435i.

How can I do this transition? Or if there's any project related I would really appreciate mention it.

Thanks in advance.

[matlabbe]

On the real robot, you may be able to start from turtlebot3_sim_rgbd_demo.launch.py, but just keep nav2 and rtabmap nodes here, while removing all use_sim_time parameters and gazebo/turtlebot related stuff (maybe except turtlebot3_rgbd_nav2_params.yaml).

[AngeloEspinoza]

Thanks @matlabbe for the reply.

The DDR is not exactly the Turtlebot3 but similar in measurements and topics. It's the one found in the series https://www.youtube.com/watch?v=jkoGkAd0GYk&t=309s&ab_channel=ArticulatedRobotics. Can it still work with your recommendations?

This is the rqt_graph of the whole system without nav2 active. It's actually pretty similar to ros2 launch rtabmap_demos turtlebot3_sim_rgbd_demo.launch.py

Thanks in advance.

[matlabbe]

Yeah, you may just need to adjust the topic names to fit yours, that's why removing all turtlebot3 stuff from that demo may just work on your DDR robot.