... | @@ -15,7 +15,7 @@ Actual implementation is just a proof-of-concept prototype with lot of assumptio |
... | @@ -15,7 +15,7 @@ Actual implementation is just a proof-of-concept prototype with lot of assumptio |
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* The movement of the platform is smooth and slow
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* The movement of the platform is smooth and slow
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* The environment is feature rich to allow visual odometry to work
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* The environment is feature rich to allow visual odometry to work
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The implementation make use of following existing libraries (ros packages):
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The implementation make use of following existing libraries (and related ROS packages):
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* RTabMap (rtabmap_ros)
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* RTabMap (rtabmap_ros)
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* Extended KalmanFilter (robot-localization)
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* Extended KalmanFilter (robot-localization)
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* UR driver (ur_modern_driver)
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* UR driver (ur_modern_driver)
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... | @@ -24,10 +24,28 @@ The implementation make use of following existing libraries (ros packages): |
... | @@ -24,10 +24,28 @@ The implementation make use of following existing libraries (ros packages): |
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AprilTag is encapsulated into the ros packages which is part of this repository.
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AprilTag is encapsulated into the ros packages which is part of this repository.
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Explanation of the library usage
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###RTabMap
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RTab Map is a Simultaneous Localization and Mapping (SLAM) library making use of RGB-D sensors.
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It can utilize different kinds of sensor (kinects, zed camera etc).
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It is used to compute the relative movement of the platform.
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In current implementation only the speed (3 linear and 3 angular components) are utilized.
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###Kalman Filter
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Extended Kalman filter is used to filter and smooth the speed estimation of the platform provided by RTab Map library.
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The position and speed provided by RTabMap is quite noisy and the position itself can vary in successive steps for more than 5 cm.
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The speed is therefore filtered by Extended Kalman filter.
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The robot_localization ros package needs the configuration file which is located at ....
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###Freenect
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Freenect is open source library to get data from the Microsoft Kinnect sensor.
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run the visual servoing
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run the visual servoing
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------------------------
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Verified in ROS Indigo. I did not use a single launch file, as it is easier to debug separate modules in separate consoles.
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1. roslaunch ur_description ur5_upload.launch (??)
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1. roslaunch ur_description ur5_upload.launch (??)
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1. roslaunch ur_modern_driver ur5_bringup.launch robot_ip:=130.149.108.91
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1. roslaunch ur_modern_driver ur5_bringup.launch robot_ip:=130.149.108.91
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1. roslaunch tutorial visual_servoing.launch
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1. roslaunch tutorial visual_servoing.launch
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... | @@ -37,3 +55,4 @@ run the visual servoing |
... | @@ -37,3 +55,4 @@ run the visual servoing |
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1. rosrun tf static_transform_publisher -0.47 -0.0 0.24 0 3.14 -1.57 base_link camera_link 40
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1. rosrun tf static_transform_publisher -0.47 -0.0 0.24 0 3.14 -1.57 base_link camera_link 40
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1. roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--delete_db_on_start"
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1. roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--delete_db_on_start"
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1. roslaunch robot_localization ekf_template.launch
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1. roslaunch robot_localization ekf_template.launch
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