Recently I started learning ROS and I was able to do a differential drive robot build with 2D Mapping with Gmapping and 3D mapping with RTAB-Map with Microsoft Kinect v1. So I’m here to share my experience with you… I posted a video on youtube of the build i did. I named it NavBot.
So i was able perform SLAM with Gmapping and i had to build gmapping from the source as it is not updated for ROS melodic. I added gmapping source package files into my project git so it will be easy to use. I used Differential drive controller from ROS Control to get odometry.
Here is the Link to project GitHub repository - https://github.com/imeshsps/ros-navbot
If i visualize 3D point Clouds in Nano, It seems to get stuck so i did visualizations in my laptop connected to ROS master running on the Nano. Other than that everything worked fine.
So if you are doing a similar build, I think this will help and if you having problems related to this, Please comment it here i’m really happy to help.