This metapackage compiles developments that have been made for the SIAR project, which belongs to the Echord++ FP7 European project in the Urban Robotics Challenge "Sewer Inspection".
It also includes the localization system is presented in the paper "RGBD-based Robot Localization in Sewer Networks" of D. Alejo, F. Caballero and L. Merino that has been submitted to 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems. For details regarding to the packages and the execution of the presented experiments, please refer to the README.md file in the "/localization_siar" subdirectory.
This metapackage is composed by the following packages. For more details about them, please refere to their included README.md files:
- frame_dropper Contains two utilities: "frame_dropper" and "image_splitter" for replicating image flow that could be used for transmitting images over the network.
- rssi_get Contains a utility for publishing the perceived RSSI of nVIP2400 equipments
- siar_driver A driver for controlling the SIAR platform
- siar_rqt_plugin Provides a 3D representation of the robot in RViz
- udp_bridge A bridge module to transmit data over a UDP link
Make sure that you have created a workspace and have configured the proper environment variables with the "setup.bash" script (see http://wiki.ros.org/catkin/Tutorials/create_a_workspace)
Recommended steps:
roscd
cd ../src
git clone https://github.com/robotics-upo/libelium_waspmote_gas_node.git
cd ..
catkin_make