ROS_DISTRO: Noetic
This repo is a workspace with all needed packages, other dependencies you can instal via classic commands:
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -r -y
You can run naive cartographer with:
roslaunch depth_gazebo diff_naive.launch
Also you can compare it with gmapping 'cartographer' with:
roslaunch depth_gazebo diff_gmapping.launch
Also you can compare it with google cartographer with:
roslaunch depth_gazebo diff_google.launch
You can do the same things but with omnidirectional wheeled platform, commands will be almost the same (still unstable):
roslaunch depth_gazebo omni_naive.launch
roslaunch depth_gazebo omni_gmapping.launch
roslaunch depth_gazebo omni_google.launch
- Run it from your catkin workspace folder
sh src/depth_gazebo/install_dependencies.sh
it provides you with
- orb_slam2_ros that gives odom->base_link transform
- depthimage_to_laserscan that turn poincloud without ground plane into laser scan msg format
- realsense2_description+realsense_gazebo_plugin - obviously, for simulating d435, but i fitted real params, because in that repo was wrong FOV's and distances
- pcl_ros - to work with pointcloud - filter it, rotating, some basic operations
- amcl - estimate robot's localization (/amcl_pose)
You can test grid mapping in gazebo using depth_gazebo package. It provides you with omni wheel robot with depth camera on it, you can ride it throught teleop package:
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
- don't forget to build && source it
catkin build && source ./devel/setup.bash
- check if some topic is posting
rostopic hz /TOPIC_NAME
- special flags for debugging big messages via
rostopic echo: --noarr , --nostr - You can save map via cmd:
rosrun map_server map_saver --occ 90 --free 10 -f FILE_MAP_NAME map:=/map
- See TF tree
rosrun rqt_tf_tree rqt_tf_tree
That's not 100% my code, i took some "references" from github repositories and im grateful to them:
- ManuelZ's solution - he implemented pretty similar algorithm, but for one laser beam
- bmaxdk's solution - pretty cool example for working with AMCL package with ROS Noetic
- Aleksa Lukovic's solution - nice drawing of map realization, but without needed transforms and using OccupancyGrid messages
But i don't recommend to took any parts of code from any of them - write yuor own code, becuase all mistakes and misunderstood will raise from stealing without understanding.