udacity-project3

Udacity's nano degree program: Robotics Software Engineering

Project Title: Where Am I?
Project Goals:

• Robot Localizaton using Adaptive Monte Carlo Localization Algorithms.
• Full video: amcl

Setup and pull

mkdir -p $HOME/<user_workspace>/src
cd $HOME/<user_workspace>/src
git clone git@github.com:tolgakarakurt/udacity-project3.git

Requirements

Dependencies:

$ sudo apt-get install ros-kinetic-navigation
$ sudo apt-get install ros-kinetic-map-server
$ sudo apt-get install ros-kinetic-move-base
$ sudo apt-get install ros-kinetic-amcl

• Install libignition-mat2-dev, protobuf-compiler
  • $ sudo apt-get install libignition-math2-dev protobuf-compiler
• Update
  • $ sudo apt-get update && apt-get upgrade -y

Setup

• Add the plugin to <yourworld>.world file

    ...
    <plugin filename="libcollision_map_creator.so" name="collision_map_creator"/>
  </world>
</sdf>

• Edit protobuf-compiler cmake document:

  • to be updated ...

• Open terminal

  • $ cd ~/catkin_ws
  • $ source devel/setup.bash
  • $ GAZEBO_PLUGIN_PATH=PATH/TO/collision_map_creator_plugin/build/ gazebo src/pgm_map_creator/world/<yourworld>.world

• Open a new terminal

  • $ source devel/setup.bash
  • $ gzserver src/pgm_map_creator/world/<yourworld>.world

• Open another terminal

  • $ source devel/setup.bash
  • $ roslaunch pgm_map_creator request_publisher.launch

• Map will be generated under /src/pgm_map_creator/maps

  • If needed, you can adjust the image boundaries (xmin, xmax, ymin, ymax) by editing src/pgm_map_creator/launch/request_publisher.launch as shown below:

    <launch>
    <arg name="map_name" default="map" />
    <arg name="save_folder" default="$(find pgm_map_creator)/maps" />
    <arg name="xmin" default="-20" />
    <arg name="xmax" default="20" />
    <arg name="ymin" default="-20" />
    <arg name="ymax" default="20" />
    <arg name="scan_height" default="5" />
    <arg name="resolution" default="0.01" />
    ...
    

• Open map

  • $ cd src/pgm_map_creator/maps
  • $ eog map.pgm

• Create yaml file

  • $ cd src/<yourpackage>/src/maps
  • $ touch map.yaml
  • $ gedit map.yaml
  • Paste the following to map.yaml

    image: <YOUR MAP NAME>
    resolution: 0.01
    origin: [-20.0, -20.0, 0.0]
    occupied_thresh: 0.65
    free_thresh: 0.196
    negate: 0
    

• launch Adaptive Monte Carlo Localization (amcl) package look for more detail

Build

• Open a terminal
• catkin_make

Action

• Open a terminal
  • roslaunch my_robot world.launch
• Open another terminal
  • roslaunch my_robot amcl.launch

Package Directory

TKProject3                         # Where am I Project
├── my_robot                       # my_robot package   
│   ├── config                     # map configuration files   
│   │   ├── base_local_planner_params.yaml
│   │   ├── costmap_common_params.yaml    
│   │   ├── global_costmap_params.yaml
│   │   ├── local_costmap_params.yaml              
│   ├── launch                     # launch folder for launch files   
│   │   ├── amcl.launch
│   │   ├── robot_description.launch
│   │   ├── world.launch
│   ├── maps                       # maps folder for amcl
│   │   ├── map.pgm
│   │   ├── map.yaml
│   ├── meshes                     # meshes folder for sensors
│   │   ├── hokuyo.dae
│   ├── urdf                       # urdf folder for xarco files
│   │   ├── my_robot.gazebo
│   │   ├── my_robot.xacro
│   ├── rviz                       # rviz saved configuration file
│   │   ├── default.rviz
│   ├── urdf                       # robot urdf file
│   │   ├── my_robot.gazebo
│   │   ├── my_robot.xacro
│   ├── worlds                      # world folder for world files
│   │   ├── myoffice.world
│   ├── CMakeLists.txt             # compiler instructions
│   ├── package.xml                # package info              
└──