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View Code? Open in Web Editor NEWEKF c++ implementation for ROS. Work done for the Autonomous System of IST (2016/2017)
EKF c++ implementation for ROS. Work done for the Autonomous System of IST (2016/2017)
QUESTIONS: 1- What is the max range for the laser? GAZEBO WHAT TO DO: http://people.oregonstate.edu/~chungje/Code/Pioneer3dx%20simulation/ros-indigo-gazebo2-pioneer.pdf (if with problems launching gazebo -> http://answers.gazebosim.org/question/4153/gazebo-crashes-immediately-using-roslaunch-after-installing-gazebo-ros-packages/) Modifications to the tutorial: 1- Modified run_pioneer_gazebo to launch---> roslaunch pioneer_gazebo pioneer_world.launch & pid="$pid $!" 2- Modified pioneer_world.launch to use our world file ----> <arg name="world_name" value="$(find pioneer_gazebo)/worlds/FifthFloorWorld.world"/> 3- Modified pioneer.gazebo to have the correct measurements for the laser -----> <!-- hokuyo --> <gazebo reference="laser"> <sensor type="ray" name="head_hokuyo_sensor"> <pose>0 0 0 0 0 0</pose> <visualize>true</visualize> <update_rate>40</update_rate> <ray> <scan> <horizontal> <samples>720</samples> <resolution>1</resolution> <min_angle>-2.09</min_angle> <max_angle>2.09</max_angle> </horizontal> </scan> <range> <min>0.2</min> <max>5.6</max> <resolution>0.01</resolution> </range> <noise> <type>gaussian</type> <!-- Noise parameters based on published spec for Hokuyo laser achieving "+-30mm" accuracy at range < 10m. A mean of 0.0m and stddev of 0.01m will put 99.7% of samples within 0.03m of the true reading. --> <mean>0.0</mean> <stddev>0.01</stddev> </noise> </ray> <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so"> <topicName>base_scan</topicName> <frameName>laser</frameName> </plugin> </sensor> </gazebo> 4- Created a custom Rviz view and changed pioneer_rviz.launch file ---> <!-- Show in Rviz --> <node name="rviz" pkg="rviz" type="rviz" args="-d $(find pioneer_description)/launch/CustomOnlyMapConfig.rviz"/> Real Robot instructions 1º Go to the directory of the project Connect the robot 2º . devel/setup.bash 3º roscore 4º sudo chmod 777 /dev/ttyUSB0 5º rosrun rosaria RosAria The controls 1º . devel/setup.bash 2º rosrun teleop_keyobard_bla_bla telop_bla_bla.py The transform 1º . devel/setup.bash 2º rosrun rosaria transform The urg node 1º . devel/setup.bash 2º sudo chmod 777 /dev/ttyACM0 3º rosrun urg_node urg_node Gmaping 1º . devel/setup.bash 2º rosrun gmapping slam_gmapping RVIZ 1º . devel/setup.bash 2º rviz rviz 3º ADD topic map
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