probabilistic-robotics

Probabilistic Robotics - Algorithms Implementations

This repository is intended to be used in Probabilistic Robotics course in PPGI-UFES. The packages presented here are still under construction and they are not supposed to be used in a production environment. If some package became mature enough then it will be transfered to a separate project.

Ocuppancy Grid Mapping

Probabilistic Robotics - Algorithms Implementations

Thrun, Sebastian; Burgard, Wolfram and Fox, Dieter. Probabilistic Robotics, MIT Press, 2005, ISBN 0262201623, 9780262201629. Cap. 9, pg 206, Table 9.1

How to use:

Obs: You need the PioneerModel to use the simulation environment

Clone the project in your workspace (e.g. $catkin_ws/src/)

$ cd ~/catkin_ws/src
$ git clone https://github.com/LCAD-UFES/probabilistic-robotics.git
$ cd ~/catkin_ws
$ catkin_make

Running:

Bring up gazebo simulation and rviz:

$ roslaunch ogm simulation.launch

After, in other terminal

if you want control with joystick (with joy node):

 conect the joystick
 $ sudo chmod 777 /dev/input/js0
 $ roslaunch ogm ogmJoy.launch

if you want control with keyboard

 $ roslaunch ogm ogm.launch
 Note: keep focus on terminal window to input the arrow commands

Drive around and enjoy the map discovery :)