Tips from Leticia

From Robin

Leticia did some mapping and localization with Tiago, as well as autonomously gripping objects for her master thesis. Here are some tips of different packages, links, and lessons from her on these topics.

Interesting packages:

• move_base
• dynamic_reconfigure - to change some configs like max velocity in the code
• jsk_data
• moveit_core
• octomap
• pal repo

Interesting links:

• move_base: http://wiki.ros.org/move_base
• dynamic_reconfigure: http://wiki.ros.org/dynamic_reconfigure
• jsk packages. I'm using the jsk_perception inside the jsk_recognition: https://github.com/jsk-ros-pkg
• moveit tutorials: http://docs.ros.org/en/melodic/api/moveit_tutorials/html/index.html
• octomap: http://wiki.ros.org/octomap
• pal: https://github.com/pal-robotics
• I'm using this to glue the object on the gripper is simulation: https://github.com/pal-robotics/gazebo_ros_link_attacher
• pcl_ros: https://pointclouds.org/

Create a new map using gmapping on the real robot:

Turn off map_server and localization on the web commander.

To visualize:

 rviz rviz

To start the mapping:

 roslaunch pal_navigation_cfg_tiago mapping_gmapping. Launch

To navigate with the robot to create the room map:

 rosrun key_teleop key_teleop.py

To save the map:

 rosrun map_server map_saver

Then, you will have a map.pgm and map.yaml with the data.