This is the ROS package for Robaka, my ROS and SLAM mobile testbed. Robaka uses ros_control with hardware driver from this repo, which relies on hoverboard custom firmware by Bipropellant.
If you're looking for the Arduino-based Robaka 1, the code is on robaka-1 branch.
To start:
$ sudo apt-get install ros-melodic-desktop-full
$ rosdep install robaka
$ catkin_make
$ roslaunch headlessrobaka robaka.launch
On desktop:
$ roslaunch uirobaka.launch
OR
$ roslaunch robaka robaka_cartographer_localization.launch load_state_filename:=<FULLPATH>/laserdata25.bag.pbstream
Refer to https://google-cartographer-ros.readthedocs.io/en/latest/ for SLAM details.
Run live SLAM:
$ roslaunch robaka slammingrobaka.launch
Record bag:
$ rosbag record -a -O ./mylaserdata10.bag
Validate bag:
$ cartographer_rosbag_validate -bag_filename=mylaserdata10.bag
Offline SLAM:
$ roslaunch robaka offline_slam.launch bag_filenames:=/home/des/catkin_ws/mylaserdata10.bag
Save map:
$ rosrun map_server map_saver -f map1
Save online SLAM state for cartographer .pbstream:
$ rosservice call /finish_trajectory 0
$ rosservice call /write_state "{filename: '/home/alex/mylaserbag23.bag.pbstream'}"
NOTE: patch cartographer as described here cartographer-project/cartographer#1498 (comment) to fix global costmap issue
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2020-03-26 Added teleop with PS4 controller, using the driver from Naoki Mizuno
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2020-04-08 Added semantic segmentation for driveable surface. Not tested yet. Cloned repo, implemented by Dheera Venkatraman.
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2020-04-18 Semantic segmentation actually works on a pre-trained network. Started work on transforming the mask using camera homography into a costmap, documenting here