This package is primarily used to apply the particlefilter in combination with a lidar (RPLidar in this case) for mobile (robot) localization in ROS.
To make it as simple as possible there are multiple launch files to:
- map the environment using gmapping
- map the environment using hector_slam
- do a live localization when moving the lidar around (local and global)
- playing back recorded bagfiles created with the localization launch files
This package heavily relies on several packages to be installed and works on ROS Noetic.
To install ROS Noetic one can follow the guide on the official ROS page.
After successfully installing ROS Noetic these packages have to be installed:
$ sudo apt install ros-noetic-map-server$ sudo apt install ros-noetic-gmapping$ sudo apt install ros-noetic-amcl$ sudo apt install ros-laser-scan-matcher
To use the RPLidar the following package must be cloned into the src directory of the workspace:
$ git clone https://github.com/robopeak/rplidar_ros
Then proceed to clone this package:
$ git clone https://github.com/Cion318/ros_pf
As an alternative to the previously installed gmapping package one can also use the hector_slam package from TU Darmstadt:
$ git clone https://github.com/tu-darmstadt-ros-pkg/hector_slam
After all packages have been installed/cloned build them using catkin_make from the root of your workspace.
Check the serial port with:
$ ls -l /dev |grep ttyUSB
Then add the write authority to the USB device (in my case ttyUSB0):$ sudo chmod 666 /dev/ttyUSB0
Inside of <workspace>/src/hector_slam/hector_mapping/launch/mapping_default.launch change:
- Line 5 to
<arg name="base_frame" default="base_link"/> - Line 6 to
<arg name="odom_frame" default="base_link"/> - Line 54 to
<node pkg="tf" type="static_transform_publisher" name="base_to_laser" args="0 0 0 0 0 0 base_link laser_link 100"/>
Inside of <workspace>/src/hector_slam/hector_slam_launch/launch/tutorial.launch change:
- Line 7 to
<param name="/use_sim_time" value="false"/>
Like mentioned before one can use gmapping or hector_slam to map out the environment. To use either of them run one of these commands:
$ roslaunch ros_pf gmap.launch$ roslaunch ros_pf hmap.launch
To save the generated map cd into the directory you want the map to be saved in and run the following command from a new terminal:
$ rosrun map_server map_saver -f <map_name>
To start a localization the launch files need to be adjusted to use the previously created map. For an easier setup I recommend putting the created map inside the designated folder inside this package in ros_pf/maps.
Inside of <workspace>/src/ros_pf/launch/local_localization.launch change:
- Line 41
"$(find ros_pf)/maps/M1GH.yaml"to"$(find ros_pf)/maps/<YOUR_MAP_NAME>.yaml"
Inside of <workspace>/src/ros_pf/launch/global_localization.launch change:
- Line 41
"$(find ros_pf)/maps/M1GH.yaml"to"$(find ros_pf)/maps/<YOUR_MAP_NAME>.yaml"
Once the files have been edited a localization can be started with the following commands:
roslaunch ros_pf local_localization.launchto start with locally distributed particlesroslaunch ros_pf global_localization.launchto start with globally distributed particles
To record the localization in real-time for post review or editing rosbag can be used. For that a new terminal needs to be open next to the one running the localization.
cd ros_pf/bagsorcdinto any other folder where you want to save the datarosbag record -ato start recording all data thats being publishedCTRL+Cto end the data recording
To replay the recorded data open a new terminal and use the following commands:
roslaunch bags_replay.launchto open a preconfigurated Rviz (for this package) Open another terminal and use the following commands:cd ros_pf/bagsorcdinto any other folder the data has been saved torosbag play <YOUR_ROSBAG_FILE_NAME>