SIV-ROS

Sensor Integration and Visualisation in ROS

Submission repository for assignments of SIV-ROS project of Robotics Club 2023-24.

Objective

• Introduce and familiarise mentees with ROS, Gazebo and Rviz
• Integrate the following in ROS:
  • Motor Encoders for Odometry data
  • LiDAR for SLAM (RPLiDAR A1M8 360 Degree)
  • IMU (MPU6050)
  • GPS (NEO-M8N GPS Module)
• Simultaneously take input from the sensors and visualise all the data in Rviz.
• Use teleop through ssh or use another kind of remote control along with gmapping node to use SLAM for creating the map of an environment in Rviz.

Folder Structure

SIV-ROS-Submissions
├── Assignment-1
│   ├── 210353_DivyaGupta
│   │   ├── README.md
│   │   └── src
│   ├── 210369_EmaadAhmed
│   │   ├── README.md
│   │   └── src
│   └── 210684_OmShivamVerma
│       ├── README.md
│       └── src
├── LICENSE
└── README.md

How to Submit

Create a fork of this repository. This fork is where you will add all the solutions of your assignments. After creating your fork, and making some changes (your solutions), create a pull request with the title: Submission of <Name>, <Roll No.>. This pull request should be created only once,

Here src is the source folder of your workspace. Also, create the README.md containing a brief description of what you have done.

Assignment-1

Aim: Understanding nodes, topics, and their connection with sensors.

Task: Create a package - “Image_processes” that can subscribe and publish topics from given nodes:

1. Node1 -: Publish webcam image frames to the topic “Webcam_img”. (“Webcam_img” topic takes image frames from webcam as data).
2. Node2 -: It will subscribe to the topic “Webcam_img” and publish data to the topic “Webcam_cropped”. (“Webcam_cropped” topic has image frames from webcam and crop it by 30% in pixels).
3. Node3 -: It will subscribe to the topic “Webcam_cropped” and show it.

Edit: Create a launch file named image_cropping.launch which launches all the nodes at once.