BUCT 777

# Terminal 1
# Launch ROS
roscore

# Terminal 2
# Launch Habitat Simulation Platform
cd ICRA-RM-Sim2Real/docker_server
sudo docker start sim2real_server
./exec_server.sh
cd ~/ros_x_habitat_ws/src/ros_x_habitat/
python3 src/scripts/roam_with_joy.py --hab-env-config-path ./configs/roam_configs/pointnav_rgbd_roam_mp3d_test_scenes.yaml

# Terminal 3
# Launch ep_description
cd ICRA-RM-Sim2Real/docker_client
sudo docker start sim2real_client
./exec_client.sh
roslaunch ep_description ep_description.launch

1. Navigation

roslaunch buct_navigation navigation.launch

1.1 Odometry

The TF message between odom and base_link is published by robot_localization.

There are three input sources of odometry:

• laser_scan_matcher_odometry, which publishes /lsm_odom topic
• wheeled odom, which publishes /ep/odom topic
• IMU, which publishes /imu/data_raw topic

You can see the detailed configuration in /buct_navigation/param/localization/odom_to_base.yaml

1.2 Localization

I used iris_lama_ros to localize the robot.

The input laserscan data topic is /rplidar/scan.

1.3 Planner

teb_local_planner

You can see the detailed configuration in /buct_navigation/param/teb

2. Marker Detect

update

rosrun buct_detect detect_cube.py

Message published in topic /buct/target_list

3. Multi Points (x,y,yaw_angle)

roslaunch buct_navigation multi_goals.launch

3.1 (0.0017, 0.9649, -0.6262)

3.2 (0.0966, 2.6168, 89.3320)

3.3 (0.3695, 2.7878, -87.1939)

3.4 (1.9732, 2.6603, -1.1807)

3.5 (2.3293, 0.1382, -179.7316)

3.6 (2.6125, -0.7969, -4.7499)

3.7 (1.1275, 1.8853, -1.2375)

3.8 (1.1211, 1.6779, -1.2644)

3.9 (1.1205, 1.5891, -1.1990)

4. SLAM

roslaunch buct_navigation slam.launch

Configuration files in buct_navigation/param/cartographer

5 Bag

# Launch ep_description
cd ICRA-RM-Sim2Real/docker_client
sudo docker start sim2real_client
./exec_client.sh
roslaunch ep_description ep_description.launch
# Launch bag
roslaunch buct_navigation positioning_and_navigation_bag.launch

Be careful with "bag_filename" in positioning_and_navigation_bag.launch