Skip to content

Latest commit

 

History

History
47 lines (30 loc) · 1.09 KB

README.md

File metadata and controls

47 lines (30 loc) · 1.09 KB
Raw

Robotics Algorithm Implementations

cas726

This package contains the following modules:

  • occpancy grid mapping
  • landmark-based mapping

Note: Code is for educational purposes and is not optimized for performance

Using Landmark-based mapping

  1. Start the simulation environment

    export IGN_GAZEBO_RESOURCE_PATH=install/cas726/share/cas726/worlds/
ros2 launch cas726 tugbot_bringup.launch.py

  2. Start the obj_extractor node: ros2 run obj_extractor obj_extractor.

  3. Start the landmark mapping node ros2 run cas726 landmark_mapper.

obj_extractor

This package contains an object detection module.

You can test this module by running

ros2 run obj_extractor obj_extractor
ros2 run obj_extractor test_image_sub

# Then run any node that streams images to the `/front/color_image` topic.

cas726_interfaces

This contains message and service definitions.

Developing

Using this prebuilt docker container. The following commands are required before running the launch files: