Skip to content

Latest commit

 

History

History
37 lines (31 loc) · 2.6 KB

README.md

File metadata and controls

37 lines (31 loc) · 2.6 KB
Raw

Robotics Project 2 - A.Y. 2021-2022

Second project of the Robotics Course (Perception, Localization and Mapping for Mobile Robots) at Politecnico di Milano.
Description of the project available here.
The first bag has been used for mapping and the other two for localization and path generation.

Team members

  • Pablo Martellucci
  • Matteo Pierini
  • Sara Vignali

Required packages

  • ira_laser_tools
  • gmapping
  • amcl
  • map_server

ROS assets

Nodes

  • odometry_tf (odometry_tf.cpp)
    It broadcasts the TF for the robot base link, starting from the odometry on the /odom topic.
  • path_generation (path_generation.cpp)
    It saves all the poses received from the amcl localization (/amcl_pose topic) as a path, which it publishes on the /amcl_path topic. If it has been launched specifying a map folder as an argument, it also provides the /save_path service.

Launch files

  • run.launch
    It starts the odometry_tf node and broadcasts the three static TF from base_link to laser_front, laser_rear and laser_merged. It starts the laserscan_multi_merger node from the ira_laser_tools package to merge the two scans on the /merged_scan topic.
  • mapping.launch
    It launches the same nodes of run.launch and it creates a map of the environment from the merged scan using slam_gmapping from the gmapping package.
  • localization.launch
    It launches the same nodes of run.launch, plus the path_generation node and the map server, that provides the map (map.yaml) from the maps folder. It performs localization using amcl (Adaptive Monte Carlo localization algorithm) and the map provided by the map server.

Services

The save_path service (provided by the path_generation node) saves a copy of the map with the path of the robot. As specified in the SavePath.srv service description, it does not need any input argument. It saves the map with the path as map_with_path.png, in the folder specified as argument of the path_generation node. If the node has been launched using the localization.launch file, the selected folder is project2/maps/.

TF tree

The structure of the TF tree is reported below. The TF from map to odom is provided by the amcl node, the TF from odom to base_link is constantly updated by the odometry_tf node and the other three (from base_link to the three laser frames) are static.