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mapping_controller package from mapping_controller repo

mapping_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

Mapping Controller for epuck on Webots Simulator

Additional Links

No additional links.

Maintainers

  • Debby Nirwan

Authors

No additional 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:

alt text

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.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mapping_controller at Robotics Stack Exchange

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