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Robotcraft 2017

Visual Navigation in Changing Environments

Presentation is available for download

Workable demo 1: Map-and-replay navigation

Prepare your environment in the home folder

  1. cd , mkdir -p coimbra_ws/src, cd coimbra_ws/src, catkin_init_workspace

Make your usb camera work:

  1. Clone the usb_cam ROS driver: git clone
  2. Compile it: cd .., catkin_make
  3. Source your environment: source devel/setup.bash
  4. Make your camera easy to access: sudo chmod 777 /dev/video0
  5. Run the camera node: roslaunch usb_cam usb_cam-test.launch

Make the stroll_bearnav package work:

  1. cd ~/coimbra_ws/src
  2. Clone the stroll_bearnav package: git clone --branch robotcraft18
  3. Compile it: cd .., catkin_make
  4. Source your environment: source devel/setup.bash
  5. Run it: roslaunch stroll_bearnav stroll-core.launch
  6. Check the image features: rosrun image_view image_view image:=/image_with_features
  7. Check the system structure rosrun rqt_graph rqt_graph
  8. Run the operator GUIs: roslaunch stroll_bearnav stroll-gui.launch
  9. Now find the mapper client gui and create a map by entering its name, e.g. A behind the fileNameclick Send goal, wait for feedback and then click Cancel goal.
  10. Now find the loadMap gui, enter the map name in the prefix and click Send goal
  11. Start the navigation by clicking Send goal in the navigator gui.

Test how the image features' matches from the map to the current view reflect the pan of the camera.

Workable demo 2: Fiducial localisation

  1. Go to: and follow the readme.
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