localizer

This node acts as the entry point for all the localization stuff of Cabot.

The source code includes odometry calculation. Particle filter localization is included in the launch file

How to see planner working in simulation

roslaunch localizer simulated_planner.launch

You can dynamically change all the parameters in the opened rqt_reconfigre window.

The most important thing to tune is the local planner part. Feel free to play around using rqt_reconfigure and modify it in base_local_planner_params.yaml

You can switch between dwa_local_planner and teb_local_planner or the default base_local_planner in configs/move_base_params.yaml.

How to send goal and see Cabot run

roslaunch localizer move_base.launch

Then set goals in rviz

Overall localization

First, install dependencies:

sudo apt-get install ros-kinetic-navigation

Just connect Arduino and Lidar to your computer, then run

roslaunch localizer localize.launch

What's actually happening

If you look at localize.launch, I do these things:

• Read sensor readings from Arduino and lidar
• Calculate odometry base on encoder and IMU, and publish the corresponding TF transform /odom -> base_link
• publish static TF transforms by calling robot_state_publisher and urdf_publisher
• Publish the map by launching map_server
• Localize using lidar reading and odometry using amcl. Publish the transform /map -> odom, also publish amcl_pose
• Use hector_tragetory_server to generate the robot tragetory
• Launch rviz for a nice UI

Odom calculation

You can see the demo of how to use this node in get_odom.launch.

• Subscribed
  • /encoder: Encoder information from Arduino
  • /imu: IMU information from Arduino
• Published
  • /odom: a nav_msgs::Odometry message, containing fused odometry
  • tf transform from /odom to /base_link