feroze/ros_marsarm

Code for the mars arm particle filter and touch planning

ros_marsarm

Code for the mars arm particle filter and touch planning

Dependencies - be sure to get the following:

ROS indigo

Eigen

Catkin tools if you want to follow the syntax below

Compilation and usage

Clone this project and run

catkin build
source devel/setup.bash
roslaunch touch_optimization setup_real_boeing.launch 

RViz should open showing the semi-transparent parts at poses specified by the particles

In a new terminal window

source devel/setup.bash
roslaunch touch_optimization simulate_localization.launch

Connection to robot

If connected to the CMU marsarm robot run

roslaunch touch_optimization run_full_boeing.launch

Ros talks to the robot over the ipc_ros_bridge. For new robots a new form of communication will be needed.

Quick Overview

• particle_filter: Our implementation of a particle filter specialized for accurate measurements
• touch_optimization: Chooses best touch point based on Information Gain
• using_markers: Visualization of particles and rays in RViz
• custom_ray_trace: Casts rays on particles and calculates information gain
• ipc_ros_bridge: Bridge to talk to IPC which controls our robot