ros-rob-project-mapping

Repo for Robotrendszerek laboratórium project

Project description

• Navigációs stack behangolása bonyolult szimulációs környezetben
• Egy bonyolult szoba / épület feltérképezése és autonóm navigáció a navigációs stack használatával
• Mozgó akadályok szimulációja (pl ember, állat)

Github workflow

How to add new functionality to the stack: After working main branch

1. Create feature/fix branch from main
2. Develop feature set
3. Test
4. If testing was successful --> create PR
5. PR has to be tested by other project member
6. If it was successful --> squash merge onto main

Branch types:

• main: main branch, "protected"
• feature: feature branch, for adding new features, or expanding existing features
  • example name: feature-lidar-xacro
• fix: fix branch
  • example name: fix-robot-color

Setup and install

1. Clone repository and update submodules

   mkdir -p workspace/src
   cd workspace/src
   git clone https://github.com/turtlewizard73/pie-mapping-and-navigation.git
   

2. Checkout on development and update submodules

   cd src/pie-mapping-and-navigation
   git fetch
   git checkout development
   git pull
   git submodule update --init --recursive
   

3. Build gazebo actors plugin

   cd gazebo_actor_collisions_plugin
   mkdir build
   cd build
   cmake ..
   make
   export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:$(pwd)
   

4. Install dependencies and build the packages

   cd workspace/src/pie-mapping-and-navigation
   sudo xargs -a apt-dependencies.txt apt install -y
   cd workspace
   catkin_make
   source devel/setup.bash
   

How to use

1. start the simulation (gazebo & rviz)

   roslaunch pie_bringup bringup.launch
   

2. moving the robot

   rosrun teleop_twist_keyboard teleop_twist_keyboard.py
   

3. mapping

   • start mapping

   roslaunch pie_bringup gmapping.launch
   

   • save map:

   rosrun map_server map_saver -f map
   

4. navigation

   roslaunch pie_bringup navigation.launch
   

Frequencies - base scan = 5.0 - global costmap update frequency: 5.0 - local costmap update frequency: 5.0 - ...

Stuff

1. Image transport and compression
   • wiki.ros.org/image_transport
   • wiki.ros.org/compressed_image_transport (pont jó)
   • wiki.ros.org/theora_image_transport (nagyon compressed)

Inspiration

Add sources, links, documentations, any useful information, that might be useful or helpful.

1. Plan 3d scanning:

   • Meshroom
     • https://alicevision.org/#meshroom
     • https://www.youtube.com/watch?v=yKbyVDK2Ep8
     • Uses images
   • RealityCapture
     • https://www.capturingreality.com/
     • https://www.youtube.com/watch?v=i8AdX6OCvHg
     • Images and video

2. turtlebot docs https://emanual.robotis.com/docs/en/platform/turtlebot3/overview/#notices

3. packages: magic imu arrow http://wiki.ros.org/rviz_imu_plugin