In this project localization using aruco markers has been implemeted. Firstly, a binary grid occupancy map of the arena is created using the hector SLAM algorithm. Aruco markers are already present in the arena and are mapped in real-time with hector_slam on the same map. Camera pose(6-DOF) from these aruco markers are then used for localization and path-planning. The amcl package of navigation_stack uses the camera pose generated by laser scanner to generate the transform between /map and /odom. Instead of this camera pose, camera pose from aruco markers is used to generate the above transform.
The demonstration is divided into two stages. Both stage 1 and 2 have been implemented in the form of Gazebo Simulation and real-life implementation on the actual lizi bot. Stage1 : Mapping using hector_slam with realtime insertion of aruco markers in the map. Stage2 : The above map is loaded. Path-planning and localization has been done with using aruco markers and odometry. Aruco_markers estimate pose which is used to correct the drift in odometry calculation.
- ros-indigo
- ubuntu 14.04
- lizi robot
- Hector_slam
- Robotican (old package for lizi. No more available on their website)
- aruco_mapping - https://github.com/Aakriti05/aruco_mapping
-
aruco_tf_lizi - https://github.com/Aakriti05/aruco_tf_lizi
-
aruco_turtle_simulation - https://github.com/surgeonofdeath/aruco_turtle_simulation
-
lizi_mapping - https://github.com/fauzanzaid/lizi_mapping
roslaunch lizi_mapping hector.launch
roslaunch aruco_mapping aruco_mapping.launch
rosrun aruco_tf_lizi lizi_broadcaster
roslaunch aruco_mapping aruco_mapping.launch
roslaunch aruco_turtle_simulation nav_turtle.launch
rosrun aruco_tf_lizi read_bag
rosrun aruco_tf_lizi view_markers
Authors-
- Rohitkumar Arasanipalai - f2015666@pilani.bits-pilani.ac
- Aakriti Agrawal - f2015276@pilani.bits-pilani.ac
- Fauzan Zaid Khan - f2015057@pilani.bits-pilani.ac