debbynirwan / mapping_controller

Autonomous Occupancy Probability Mapping Mission Robot Code with Webots and ROS2.

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.