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mapping_controller package from mapping_controller repomapping_controller |
Package Summary
Tags | No category tags. |
Version | 0.0.1 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Description | Autonomous Occupancy Probability Mapping Mission Robot Code with Webots and ROS2. |
Checkout URI | https://github.com/debbynirwan/mapping_controller.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2021-08-04 |
Dev Status | UNKNOWN |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | robotics mobile-robots ros2 occupancy-grid-map probabilistic-robotics webots |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Debby Nirwan
Authors
mapping_controller
Webots ROS2 Mapping Controller
Description
The Mapping Controller package starts e-puck robot on Webots Simulator to bounce for mapping the environment. The maps can be the simple mapping from webots_ros2 or probability mapping. The maps will be saved at the given path.
Build
The following instructions assume that a ROS2 workspace is already set up.
rosdep update
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build --packages-select mapping_controller
. install/setup.bash
Execution
After building and installing the package, you can launch the simulation.
Simple Mapping with rviz2
ros2 launch mapping_controller mapping_controller_launch.py mapper:=true rviz:=true mapping_time:=3
mapping_time is the time for the robot to bounce in minute.
Probability Mapping with rviz2
ros2 launch mapping_controller mapping_controller_launch.py probability:=true rviz:=true mapping_time:=3
Specifying path
By default the map is saved at home directory, to change it use path parameter.
ros2 launch mapping_controller mapping_controller_launch.py probability:=true rviz:=true mapping_time:=3 path:=path:="/home/$USER/Documents"
Map File Example
the map file looks like:
Dependencies
Webots ROS2 package
Documentation
If you’re interested in understanding the details, please read my post here
Issues
Please report issues if you found bugs or raise a Pull Request.
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
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