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This package contains ROS launch files for running RTAB-Map and Hector Mapping with the Kinect v2 and RPLIDAR A2. It also includes a pushcart mesh, a URDF file, and a rviz config file for visualization of experiments in rviz.
A video of an experiment is available at:
https://www.youtube.com/watch?v=MlrcTyXy5No
You can download the ROS bag dataset with the sensor data of the above experiment at: