manuelilg / autonomous_chair

localization of a autonomous chair with cartographer

autonomous_chair

Overview

localization of a autonomous chair with cartographer

Keywords: localization, cartographer

The autonomous_chair package has been tested under ROS Kinetic and Ubuntu 16.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Installation

Installation from Packages

To install all packages from the this repository as Debian packages use

sudo apt-get install ros-kinetic-...

Building from Source

Dependencies

• Robot Operating System (ROS) (middleware for robotics),

Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

cd catkin_workspace/src
git clone https://github.com/manuelilg/autonomous_chair.git
cd ../
rosdep update
rosdep install --from-paths src --ignore-src -r -y
catkin build

Usage

####How to create a map:

1. Record data while driving in the environment:

    roslaunch autonomous_chair_cartographer record.launch
   

2. Run offline cartographer node (creates .pbstream-file):

    roslaunch autonomous_chair_cartographer offline_chair.launch
   

3. Create map:

    roslaunch autonomous_chair_cartographer offline_map_creation.launch
   

####Run localisation on a given map:

roslaunch autonomous_chair_cartographer localisation.launch

####Run a simple simulation of the chair:

roslaunch roslaunch autonomous_chair_gazebo chair_world.launch

####Visualize the chair and the laser-scan data (real or simulated chair):

roslaunch autonomous_chair_description rviz.launch

Launch files

• record.launch: Starts rosbag record

  Note:

  • bag-file will be saved in the directory from where the launch-file have been started

• offline_chair.launch: start offline slam

  Argument set 1

  • bag_filenames Absolute path to bag-file
  • no_rviz Set to false to see the progress of the SLAM-Prozess. Default: true.

  Note:

  • pbstream-file will be in the same directory as the bag-file

• offline_map_creation.launch: start offline slam

  Argument set 1

  • bag_filenames Absolute path to bag-file

  Note:

  • the map-files will will be in the same directory as the bag-file/pbstream-file

• localisation.launch: start localisation

  Argument set 1

  • pbstream_file Absolute path to pbstream-file
  • map_file Absolute path to map-file (yaml)
  • initial_pose initial-pose in the given map.
    Default: translation={0.0, 0.0, 0.0}, rotation={0.0, 0.0, 0.0}

• chair_world.launch: start localisation

  Argument set 1

  • pbstream_file Absolute path to pbstream-file
  • map_file Absolute path to map-file (yaml)
  • initial_pose initial-pose in the given map.
    Default: translation={0.0, 0.0, 0.0}, rotation={0.0, 0.0, 0.0}

Config files

Config file in dir: autonomous_chair_description/configuration_files

• chair.lua cartographer configuration-file for SLAM (settings maybe need to be tuned)
• chair_localisation.lua.lua cartographer configuration-file for localisation (settings maybe need to be tuned)