Sensor Integration and Visualisation in ROS
Submission repository for assignments of SIV-ROS project of Robotics Club 2023-24.
- Introduce and familiarise mentees with ROS, Gazebo and Rviz
- Integrate the following in ROS:
- Motor Encoders for Odometry data
- LiDAR for SLAM (RPLiDAR A1M8 360 Degree)
- IMU (MPU6050)
- GPS (NEO-M8N GPS Module)
- Simultaneously take input from the sensors and visualise all the data in Rviz.
- Use teleop through ssh or use another kind of remote control along with gmapping node to use SLAM for creating the map of an environment in Rviz.
SIV-ROS-Submissions
├── Assignment-1
│ ├── 210353_DivyaGupta
│ │ ├── README.md
│ │ └── src
│ ├── 210369_EmaadAhmed
│ │ ├── README.md
│ │ └── src
│ └── 210684_OmShivamVerma
│ ├── README.md
│ └── src
├── LICENSE
└── README.md
Create a fork of this repository. This fork is where you will add all the solutions of your assignments. After creating your fork, and making some changes (your solutions), create a pull request with the title: Submission of <Name>, <Roll No.>
. This pull request should be created only once,
Here src
is the source folder of your workspace. Also, create the README.md
containing a brief description of what you have done.
Aim: Understanding nodes, topics, and their connection with sensors.
Task: Create a package - “Image_processes” that can subscribe and publish topics from given nodes:
- Node1 -: Publish webcam image frames to the topic “Webcam_img”. (“Webcam_img” topic takes image frames from webcam as data).
- Node2 -: It will subscribe to the topic “Webcam_img” and publish data to the topic “Webcam_cropped”. (“Webcam_cropped” topic has image frames from webcam and crop it by 30% in pixels).
- Node3 -: It will subscribe to the topic “Webcam_cropped” and show it.
Edit: Create a launch file named image_cropping.launch
which launches all the nodes at once.