How to use

1. Clone the project into a catkin workspace git clone git@github.com:cohnt/Particle-Based-Localization.git
2. Adjust folder paths in the following script files
   • In single_handle.py, change path_to_model_file
   • In two_filters.py, change path_to_model_file
   • In training/detect_handles.py, change image_directory
   • In training/save_on_keypress.py, change image_directory
3. catkin_make
4. source devel/setup.bash
5. Gather a training dataset using rosrun grab_bag save_on_keypress.py
6. Train a model using rosrun grab_bag detect_handles.py
7. Localize handles using rosrun grab_bag single_handle.py or rosrun grab_bag two_filters.py

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Related Repositories

https://github.com/cohnt/ROS-Tools

https://github.com/cohnt/2D-Bag-Localization-Sim

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Useful Commands

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rosbag play -r 0.5 -s 7 my.bag

One of the handles is at (0.95, -0.5, 1.1) in the frame /odom

Videos

https://www.youtube.com/watch?v=8LI67jwJt6c&feature=youtu.be https://www.youtube.com/watch?v=UOY7HeGxDeQ&feature=youtu.be