Laser, Kinect, Gmapping, Localization, PathPlanning

Transcription

1 Soso s knowledge Laser, Kinect, Gmapping, Localization, PathPlanning Faculty of Information Technology, Brno University of Technology Bozetechova 2, Brno name@fit.vutbr.cz

2 Sensors Stereo cameras Laser scanners Kinect Tactile sensors Odometry sensors XIP 2

3 Odometry sensors Use data from motion sensors to estimate change in position over time Sensitive to errors EF 3

4 Odometry sensors Use data from motion sensors to estimate change in position over time Sensitive to errors DS 4

5 Laser scanner (LIDAR) Measures distance to objects using laser pulses Mostly 2D, 3D lidars also exist ZQ 5

6 Laser scanner (LIDAR) Representation of laser scan in ROS Header header # timestamp in the header is the acquisition time of # the first ray in the scan. # # in frame frame_id, angles are measured around # the positive Z axis (counterclockwise, if Z is up) # with zero angle being forward along the x axis float32 angle_min # start angle of the scan [rad] float32 angle_max # end angle of the scan [rad] float32 angle_increment # angular distance between measurements [rad] float32 time_increment # time between measurements [seconds] - if your scanner # is moving, this will be used in interpolating position # of 3d points float32 scan_time # time between scans [seconds] float32 range_min float32 range_max float32[] ranges arded) float32[] intensities # minimum range value [m] # maximum range value [m] # range data [m] (Note: values < range_min or > range_max should be disc # intensity data [device-specific units]. If your # device does not provide intensities, please leave # the array empty. UT 6

7 Displaying Laser scan in RVIZ Play bagfile with data: roslaunch btb_gazebo robot_simple_world.lauch Run RVIZ rosrun rviz rviz Add Laser Scan Set topic to /scan Set Global Options Fixed frame to /laser UI 7

8 Kinect and Laser scan from Kinect Kinect provides RGB image, depth image, accelerometers Dense Point clouds are easily computed Come at me, bro! Disadvantage: short range JT 8

9 Kinect PCL to Laser Scan Play bagfile with Kinect data: rosbag play --loop kinect_data.bag Run RVIZ rosrun rviz rviz Set Global Options Fixed frame to /openni_camera Add PointCloud2 Set topic to: /camera/depth/points Run the kinect2laser launchfile: roslaunch btb_kinect_2_laser_demo kinect2laser.launch Add Laser Scan Set topic to: /narrow_scan HF 9

10 GMapping Simultaneous Localization And Mapping Sensors Data asociation High dimensionality UT 10

11 GMapping 3DOF Odometry + LASER Particle filtering Supported is ROS GS 11

12 Gmapping - DEMO Run the TB sumilator roslaunch btb_gazebo robot_simple_world.lauch Run GMapping roslaunch btb_navigation gmapping.launch Run teleoperation roslaunch btb_teleop keyboard_teleop.launch Run RVIZ rosrun rviz rviz Set Global Options Fixed frame to /map Use keys (described in terminal) to move and map FF 12

13 Gmapping saving/loading the map Map can be saves using map_server Saved as.pgm + metadata Impossible to load map and continue mapping using gmapping Save map: rosrun map_server map_saver -f <map name> Load map: rosrun map_server map_server <map name> CFF 13

14 Localization The localization part of SLAM Assumes known map We will be working with particle filter localization SG 14

15 Localization Run the TB sumilator (if not running) roslaunch btb_gazebo robot_simple_world.lauch Load our previously built map rosrun map_server map_server <map name> Run teleoperation roslaunch btb_teleop keyboard_teleop.launch Hide the robot anywhere you want Run move base roslaunch btb_navigation move_base_turtlebot_laser.launch Run Amcl roslaunch btb_navigation amcl_turtlebot.launch In RVIZ 2D pose estimate click and drag Send destination goal 2D nav goal click and drag SP 15

16 Path Planning Responsible for calculating a global path assuming it is provided with: Map A goal location in that map robot's current pose NNF 16

17 Path planning, 17

18 TB2 LIVE DEMO It s ALIVE! (ABC-1) 18

19 It s over, yaaay!! Záhlaví ( ) 19