Mapping and planning with 2D data

The aim of this project is to develop a simulation environment (currently in Gazebo) and test perception and navigation algorithms, both self-implemented or from other packages.

The current status of the project is:

• A simple environment has been created to perform some initial tests.
• A line-of-sight algorithm has been implemented and tested. Some bugs have been noticed and source is still to-be-found.
• No probabilistic update algorithm has been implemented yet.
• No navigation method has been implemented yet.

Dependencies

This packages have been developed and testes using the following package versions:

• ROS 2 Iron
• Gazebo Harmonic

Data formats

• Occupancy grid (CSV)
  • Values in the range [0, 100]
• 2d laser scaner recordings (CSV):
  • 3 translation
  • 4 rotation
  • n numbers of readings
• Scaner metadata (YAML)
  • min_angle
  • max_angle
  • min_range
  • max_range
  • resolution
  • samples

Interesting tools:

• URDF visualization: https://github.com/openrr/urdf-viz

Sources of data:

• UR5e:
  • DH: https://www.universal-robots.com/articles/ur/application-installation/dh-parameters-for-calculations-of-kinematics-and-dynamics/
  • Inertia properties and meshes: https://github.com/culurciello/pybullet_ur5_gripper/blob/master/robots/urdf/ur5e.urdf

Common commands for debugging

Robot models

• Required sourcing:
  • source /opt/ros/iron/setup.bash && source /home/pablo/ws_ros/install/setup.bash && source /home/pablo/Projects/2d_DDR/install/setup.bash
• Build and start Gazebo:
  • colcon build --packages-select robot_models && ros2 launch robot_models start_ign.launch.py
• Spawn the robot:
  • ros2 launch robot_models spawn_simple_ddr.launch.py
• Spawn the transport messages
  • ros2 launch robot_models simple_ddr_bridge.launch.py
• GZ topic of lidar