Repo for Robotrendszerek laboratórium project
- Navigációs stack behangolása bonyolult szimulációs környezetben
- Egy bonyolult szoba / épület feltérképezése és autonóm navigáció a navigációs stack használatával
- Mozgó akadályok szimulációja (pl ember, állat)
How to add new functionality to the stack: After working main branch
- Create feature/fix branch from main
- Develop feature set
- Test
- If testing was successful --> create PR
- PR has to be tested by other project member
- 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
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Clone repository and update submodules
mkdir -p workspace/src cd workspace/src git clone https://github.com/turtlewizard73/pie-mapping-and-navigation.git
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Checkout on development and update submodules
cd src/pie-mapping-and-navigation git fetch git checkout development git pull git submodule update --init --recursive
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Build gazebo actors plugin
cd gazebo_actor_collisions_plugin mkdir build cd build cmake .. make export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:$(pwd)
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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
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start the simulation (gazebo & rviz)
roslaunch pie_bringup bringup.launch
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moving the robot
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
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mapping
- start mapping
roslaunch pie_bringup gmapping.launch
- save map:
rosrun map_server map_saver -f map
-
navigation
roslaunch pie_bringup navigation.launch
Frequencies - base scan = 5.0 - global costmap update frequency: 5.0 - local costmap update frequency: 5.0 - ...
- 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)
Add sources, links, documentations, any useful information, that might be useful or helpful.
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Plan 3d scanning:
- Meshroom
- RealityCapture
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turtlebot docs https://emanual.robotis.com/docs/en/platform/turtlebot3/overview/#notices
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packages: magic imu arrow http://wiki.ros.org/rviz_imu_plugin