aims_cdt_week

Contains ROS packages to be used for the CDT week.

Run

Currently, the simulation is run using either of:

roslaunch aims_jackal_sim jackal_sim.launch

roslaunch aims_jackal_sim jackal_sim_empty.launch

To use the PS4 controller, add the optional argument joystick:=true

Door configuration can be reset with:

rosrun aims_jackal_sim reset_sim.py

Setup

Install the Jackal packages:

sudo apt-get install ros-melodic-jackal-simulator ros-melodic-jackal-desktop ros-melodic-jackal-navigation

Install additional dependencies:

sudo apt-get install libzbar-dev

sudo apt-get install ros-melodic-hector-models

Currently it is necessary add to the Gazebo model path as follows:

export GAZEBO_MODEL_PATH=/path/to/catkin_workspace/src/aims_cdt_week/aims_jackal_sim/models:$GAZEBO_MODEL_PATH

pf_localisation package

Package for particle filter locaisation.

To run, add the following to your bashrc: export PYTHONPATH=/path/to/catkin/workspace/src/aims_cdt_week/pf_localisation/src:$PYTHONPATH

You may get errors related to lasertrace.so. If this is the case, run ./compile.sh in the laser trace directory.

using the existing topological map

To run mongo_db, you will first need to make an empty folder called 'db' in the aims_jackal_sim folder. Start by running a mongo_db database:

roslaunch mongodb_store mongodb_store.launch db_path:=`rospack find aims_jackal_sim`/db

Insert the map from the .yaml file:

rosrun topological_utils load_yaml_map.py aims_navigation/maps/cdt/batlab_topmap.yaml

creating a topological map

Start by running a mongo_db database:

roslaunch mongodb_store mongodb_store.launch db_path:=`rospack find aims_jackal_sim`/db

Insert a new map:

rosrun topological_utils insert_empty_map.py name_of_topological_map

Kill any mongo_db instances running. Then run:

roslaunch topological_rviz_tools strands_rviz_topmap.launch standalone:=true topmap:=name_of_topological_map db_path:=`rospack find aims_jackal_sim`/db map:=`rospack find aims_jackal_sim`/maps/map.yaml

Edit the map in rviz.