gavincangan / bayesian-robotics

Fuse camera and LIDAR sensor data to track an object using an Extended Kalman Filter and performed SLAM

ME5524 Bayesian Robotics - Fall 2018

Workspace for the MBZIRC 2020 Challenge 3. The objective of this package is to locate a fire using the Clearpath Jackal UGV and navigate towards it.

Videos

1. Target Detection
2. Kalman Filter
3. Sensor fusion
4. SLAM
5. Final

Table of Contents

1. Installation
2. Operation
3. Timeline
4. TODO
5. Contributiors

1. Installation

Install prerequisites

sudo apt-get update
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo apt-get install protobuf-compiler python-pip python-toml python-jinja2 python-catkin-tools
sudo pip install --upgrade pip
sudo pip install -U catkin_tools

sudo apt-get install gstreamer1.0-tools libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-dev

Install ROS packages

sudo apt-get install ros-indigo-hokuyo-node
sudo apt-get install ros-kinetic-cv-bridge

Configure base station to connect with Jackal

Edit /etc/hosts and add the following line:

192.168.1.24    cpr-jackal

Install this workspace

cd ~
git clone https://github.com/gavincangan/bayesian-robotics.git
cd ~/bayesian-robotics

Configure Environment

Add this to your ~/.bashrc file.

nano ~/.bashrc

## Add the following, save and quit
source $HOME/bayesian-robotics/br_f18_project_ws/devel/setup.bash

Download Workspace Dependencies

cd ~/bayesian-robotics/br_f18_project_ws
wstool update -t src

Build Workspace

cd ~/bayesian-robotics/br_f18_project_ws
catkin build

2. Operation

Configure ROS MASTER

The following must be run on each terminal to communicate properly with the jackal. To avoid doing this every time, you can include these in you ~/.bashrc file.

export ROS_MASTER_URI=http://cpr-jackal:11311
export ROS_IP=<your computer's IP address>

Start nodes on jackal

#Kill odometry as that messes with frames
killall ekf_localization_node

nohup roslaunch mbz_c3_jackal accessories.launch &
roslaunch mbz_c3_jackal sensing.launch

Start nodes on base station

rosrun mbz_c3_jackal visualize_trackers.py
roslaunch mbz_c3_jackal mapping.launch
rosrun mbz_c3_jackal information_loss_map.py
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
rviz

Getting the Jackal to work with keyboard teleop

After installing the teleop_twist_keyboard package, fire up the node and control Jackal using the keyboard

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

3. Timeline

2018/09/26

• Team formed

2018/09/29

• Project kickstart meeting
• Got it moving with keyboard teleop, attempted LIDAR and webcam, installed hector

2018/10/03

• Meeting planned
• Get data from webcam & LIDAR - Done
• LIDAR & camera mounts designed. Printing in progress
• Gavin learned how to use FreeCAD :)

2018/10/03

• Meeting planned
• Get data from webcam & LIDAR - Done
• LIDAR & camera mounts designed. Printing in progress
• Gavin learned how to use FreeCAD :)

2018/10/10

• Run hector
• Mount LIDAR and webcam

2018/10/15

• Implemented ball detection
• Restructured repository

2018/10/24

• Implemented Kalman filter
• https://www.youtube.com/watch?v=IeikM8otWBU

TODO

• Static IP for wifi
• Build map in realtime (offboard mapping/play with settings in hector?)
• Move using waypoint
• Document upstart and add webcam to startup scripts

5. Contributors

Team 3

• Abdullah Abdul-Dayem
• Barnabas Gavin Cangan
• Lisheng Yang