Estimate the 2D pose of a robot

Compute 2d pose of the robot based on the wheel encoder, steering wheel angle and imu angular velocity.

Robert Banegas, 2018

Build

• Use Ubuntu 16.04

• Use Ros Kinetic

• Set

  • mkdir rosrover_ws
  • cd rosrover_ws

• Pull

  • git init
  • git pull https://github.com/Robert4000/r001.git

• Build

  • catkin_make
  • source ~/rosrover_ws/devel/setup.bash

Test

• Execute the following commands on different terminals ( Use Ctrl-Shift-T )

• Run Ros

  • roscore

• Run Publisher

  • source ~/rosrover_ws/devel/setup.bash
  • rosrun robot_motion_controller robot_motion_controller

• Run Subscriber

  • rostopic echo /odom

• Launch Husky Gazebo

  • roslaunch husky_gazebo husky_empty_world.launch

• Run Ros Graph

  • rosrun rqt_graph rqt_graph

References

• ros.org / Kinetic
• ros.org / Robot_Localization. Fusing multiple sensors' data.
• openslam.org

Vision

• Google TensorFlow
• Nvidia TensorRT
• Visual Slam