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Robotic Sensing and Navigation

This repo holds all labs completed for my Robotic Sensing and Navigation course (Spring 2022).

Lab Descriptions

Lab 1 --- GPS Analyzation

Error analyzation of both stationary and transient GPS data.

Report: LAB1_GPS_Driver&Analyzation/src/Lab1_Report.pdf

Structure

Main Folders + Files Description
src/Gps_driver/ Main folder of the ROS package, directly holding the CMakeLists.txt and package.xml files
src/Gps_driver/msg/GPS_msg.msg ROS .msg file used to publish the recorded data
src/Gps_driver/scripts/LAB1_publisher.py Main ROS publisher script used to publish data to the ROS node
src/analysis_scripts/ Holds the scripts used to analyze the recorded data
src/analysis_scripts/moving_analyzer.py Script used to analyze the transient GPS data
src/analysis_scripts/stationary_analyzer.py Script used to analyze the stationary GPS data
src/data/] Holds the raw data files in .bag and .txt files

Lab 2 --- RTK-GPS Analyzation

Error analyzation of both stationary and transient RTK-GPS data.

Report: LAB2_RTK-GPS_Driver&Analyzation/Lab2_Report.pdf

Structure

Main Folders + Files Description
src/Lab2_package/ Main folder of the ROS package, directly holding the CMakeLists.txt and package.xml files
src/Lab2_package/msg/Lab2_msg.msg ROS .msg file used to publish the recorded data
src/Lab2_package/scripts/Lab2_publisher.py Main ROS publisher script used to publish data to the ROS node
src/Lab2_package/analysis/ Holds the scripts used to analyze the recorded data
src/Lab2_package/analysis/moving_analyzer.py Script used to analyze the transient GPS data
src/Lab2_package/analysis/stationary_analyzer.py Script used to analyze the stationary GPS data
data/ Holds the raw data files in .bag and .txt files

Lab 3 --- IMU Analyzation

Error analyzation of stationary IMU data, including allan variance analysis.

Report: LAB3_IMU_Stationary/Lab3_Report.pdf

Structure

Main Folders + Files Description
src/lab3_package/ Main folder of the ROS package, directly holding the CMakeLists.txt and package.xml files
src/lab3_package/msg/IMU_msg.msg ROS .msg file used to publish the recorded data
src/lab3_package/scripts/lab3_publisher.py Main ROS publisher script used to publish data to the ROS node
src/analysis/ Holds the scripts used to analyze the recorded data
src/analysis/group_analyzer.py Script used to analyze the group collected stationary IMU data
src/analysis/individual_analyzer.py Script used to analyze the individually collected transient IMU data
src/analysis/allan_variance.m MATLAB script used to plot the allan variance plots of the stationary IMU data
data/ Holds the raw data files in .bag and .csv files

Lab 4 --- IMU Localization

Using IMU magnetometer, accelerometer, and angular data to plot the trajectory of a car ride. Implemented soft iron heading correction, yaw calculations from magnetometer data, velocity calculations from integrated accelerometer data, trajectory estimations via dead reckoning, and a calculation of the IMU placement with respect to the vehicle frame.

Report: LAB4_IMU+GPS_Localization/Lab4_Report.pdf

Structure

Main Folders + Files Description
src/lab4_package/ Main folder of the ROS package, directly holding the CMakeLists.txt and package.xml files
src/lab4_package/msg/IMU_msg.msg ROS .msg file used to publish the incoming IMU data
src/lab4_package/msg/GPS_msg.msg ROS .msg file used to publish the incoming GPS data
src/lab4_package/scripts/imu_data_pub_lab4.py ROS publisher script used to publish IMU data to the ROS node
src/lab4_package/scripts/gps_data_pub_lab4.py ROS publisher script used to publish GPS data to the ROS node
src/analysis/ Holds the script used to analyze the recorded data
src/analysis/analyzer.py Script used to perform all analyzations
src/data/ Holds the raw data files in .bag and .csv files

Lab 5 --- Image Stitching

Image stitching of murals across campus via Harris corner detectors and feature matching.

Report: Lab5_Image_Stitching/Lab5_Report.pdf Code: Lab5_Image_Stitching/EECE5554_Lab5.m

Mini Project

Mini project done on a meal delivery AMR, including feature, power, navigation and sensing analyses.

Report: Mini_Project/EECE5554_LukeDavidson_IndividualProject.pdf