Workspace repository for semester thesis at ETH about ultrasonic sensor fusion for obstacle detection on mobile warehouse robot.
Requirements:
- Ubuntu 22.04,
- ROS2 Rolling Ridley,
- Shapely (https://shapely.readthedocs.io/en/stable/manual.html)
Copy the packages in src/ to your colcon workspace and build.
Source the workspace and set export PYTHONOPTIMIZE=1 in your working terminal to suppress assertions caused by inf values in range messages. (ROS2 issue)
To run the simulation:
ros2 launch sonic_description sonic_spawn.launch.py
Or for the hardware tests adapt the sonic_fusion.launch.py (see comments) and run:
ros2 bag play [NAME OF BAG] --pause and play when the rest is ready.
and in another terminal run:
ros2 run sonic_fusion sonic_fusion.launch.py
To visualize the results use rviz2 and the config src/sonic_description/launch/sonic.rviz
The robot in simulation can be moved by running the teleop command in a separate terminal:
ros2 run teleop_twist_keyboard teleop_twist_keyboard cmd_vel:=/sonic/cmd_vel