slam MASTER README

SLAM Implementation for 6.834 Grand Challenge 2017

Read this README before reading the README in the slam_backend repo.

Setup

This project has the following external dependencies: - AprilTags - Octomaps - GTSAM/iSAM2

Installing AprilTags - Clone from https://github.com/RIVeR-Lab/apriltags_ros into catkin_ws/src/ - cd into catkin_ws - catkin_make

Installing Octomap - sudo apt-get install ros-kinetic-octomap-server - (may need to install ros-kinetic-octomap and ros-kinetic-octomap-mapping and ros-kinetic-octomap-msgs)

Installing GTSAM/iSAM2 - see slam_backend README

NOTE: Before launching SLAM, reset odom transform to the current robot location (Eric can do this). Make sure the robot is not moving

Launching everything - roslaunch slam slam_master.launch

RViz Setup - Open the config from slam/rviz/odomSLAM.rviz

Debugging

Make sure your environment variables are set correctly:

export ROS_MASTER_URI=http://192.168.2.100:11311
export ROS_IP=<local-ip, from ifconfig>
source ~/catkin_ws/devel/setup.bash

Guide to running from a ROS Bag

run roscore -- roscore

run apriltags -- Make sure to copy run_apriltags_detection.launch from the slam/launch folder into the apriltags_ros/apriltags_ros/launch folder -- in slam folder roslaunch apriltags_ros run_apriltag_detection.launch

run octomap -- Make sure to copy antonio_octomap.launch according to README in the slam repo -- in slam folder roslaunch octomap_server antonio_octomap.launch

roslaunch slam -- roslaunch slam slam.launch

run the bag -- rosparam set use_sim_time true -- rosbag play --clock <bag_file>

Some other notes

Useful commands

export ROS_MASTER_URI=http://192.168.2.100:11311
export ROS_IP=<local-ip, from ifconfig>
source ~/catkin_ws/devel/setup.bash
env | grep ROS

rosrun 
rqt_graph
rviz
rosrun rf view_frames

Outdated Notes:

Occupancy grid:

We're using octomap_server to read from a cloud_in PointCloud2, which comes from the laserToPointCloud2Converter node (runLaserGeometry.py python file). To run the octomap server, you execute

roslaunch octomap_server antonio_octomap.launch

******* the file antonio_octomap.launch needs to be moved to the directory: /opt/ros/indigo/share/octomap_server/launch (you can get here with roscd octomap_server)

laserScan to pointCloud2:

Handled by the python script runLaserGeometry.py

Resetting the map

To do that, import the Empty service and create an object with:

from std_srvs.srv import Empty
resetter = rospy.ServiceProxy('/octomap_server/reset', Empty)