• 设为首页
  • 点击收藏
  • 手机版
    手机扫一扫访问
    迪恩网络手机版
  • 关注官方公众号
    微信扫一扫关注
    公众号

gentaiscool/ros-vrep-slam: ROS and V-REP for Robot Mapping and Localization

原作者: [db:作者] 来自: 网络 收藏 邀请

开源软件名称(OpenSource Name):

gentaiscool/ros-vrep-slam

开源软件地址(OpenSource Url):

https://github.com/gentaiscool/ros-vrep-slam

开源编程语言(OpenSource Language):

C++ 77.1%

开源软件介绍(OpenSource Introduction):

ROS and V-REP for Robot Mapping and Localization

It is an implementation of robot mapping and localization using Robot Operating System (ROS) and V-REP simulator. In this project, the robot can go around the unknown area and use laser sensor to generate the mapping. In addition, we have tasks such as visual servoing and face recognition using camera and OpenCV.

Demo video

https://youtu.be/n-XK24o42Oo

Setup

In this project, we use Ubuntu 16.04 LTS operating system.

Our project requires several libraries and packages as follows:

Additional Libraries

# install hector-slam
sudo apt install ros-kinetic-hector-slam

Prepare Workspace:

# git clone this project
git clone https://github.com/gentaiscool/elec6910r-ros-project.git
# make sure you remove build and devel directories
rm -rf ./build ./devel

# install ROS kinetic from http://wiki.ros.org/kinetic/Installation/Ubuntu
# install V-REP 3.5.0 from http://www.coppeliarobotics.com/downloads.html
Prepare the workspace
# To prepare the workspace
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
cd ./catkin_ws/
catkin_make
echo "source ./catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

# copy libv_repExtRosInterface to V-REP directory
cd catkin_ws/devel/lib
cp libv_repExtRosInterface.so  ~/V-REP

# double check if you have the following programs:
rviz
rqt_graph

Run the project:

roscore

# Execute V-REP
./vrep.sh
# Open scene env.ttt in V-REP and start the simulation

# Load keyboard controller
rosrun project key_teleop.py

# Load the launcher 
roslaunch hector.launch

# Also check rqt_graph and rostopic list

Features

Ros graph

Generated by rqt_graph

Keyboard control

Our code is based on key_teleop.py script. We changed the speed and the publisher node.

# Load keyboard controller
rosrun project key_teleop.py

Visual Servoing

In this task, the machine has to track and follow the yellow ball (#FFFF00).

Face recognition

In this example, we detect President Obama's face.

Authors

Note

ELEC6910R - Robotic Perception and Learning Final Project in HKUST

Acknowledgement

  • Prof. LIU Ming
  • TA: HUANG Kan
  • We also thank Chien-Sheng Wu for the assistance



鲜花

握手

雷人

路过

鸡蛋
该文章已有0人参与评论

请发表评论

全部评论

专题导读
热门推荐
阅读排行榜

扫描微信二维码

查看手机版网站

随时了解更新最新资讯

139-2527-9053

在线客服(服务时间 9:00~18:00)

在线QQ客服
地址:深圳市南山区西丽大学城创智工业园
电邮:jeky_zhao#qq.com
移动电话:139-2527-9053

Powered by 互联科技 X3.4© 2001-2213 极客世界.|Sitemap