h3ct0r / gas_mapping_kerneldm

Gas mapping system integrated with ROS using the KernelDM+V method

ROS Gas Distribution Mapping with Kernel DM+V

Gas mapping system integrated with ROS using the KernelDM+V method (python2.7 compatible, tested with ROS Kinetic under Ubuntu 16.04)

Original implementation

Stephan Muller - https://github.com/smueller18/TDKernelDMVW

Implementation based on the following papers:

• S. Asadi and A. Lilienthal, "Approaches to time-dependent gas distribution modelling," 2015 European Conference on Mobile Robots (ECMR), Lincoln, 2015, pp. 1-6.
• A. J. Lilienthal, M. Reggente, M. Trincavelli, J. L. Blanco and J. Gonzalez, "A statistical approach to gas distribution modelling with mobile robots - The Kernel DM+V algorithm," 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, MO, 2009, pp. 570-576.
• Neumann, Patrick. (2013). BAM-Dissertationsreihe. Bd. 109: Gas Source Localization and Gas Distribution Mapping with a Micro-Drone. Berlin : Bundesanstalt für Materialforschung und -prüfung (BAM)

Demo with GADEN and gas simulations:

Simulation environment: https://github.com/MAPIRlab/gaden

Depends on:

• core_messages/hw_msgs
• Python2 dependencies:
  • matplotlib
  • numpy
  • networkx

How to run:

Load the rosbags:

rosbag play spot2_globalplan_2020-02-26-12-51-20_0.bag spot2_artifact_2020-02-26-12-51-19_0.bag spot2_localplan_2020-02-26-12-51-20_0.bag spot2_artifact_2020-02-26-13-36-30_1.bag spot2_tf_2020-02-26-12-51-20_0.bag base1_lamp_2020-02-26-13-55-29_102.bag lamp_posegraph.bag lamp_posegraph_incremental.bag -r 20 -s 1450

Load the environment:

roslaunch gas_mapping_kerneldm gas_map_bags_urban.launch

main_density_map_node.py

This node reads the /spot2/co2 data, align the position of the measurements with the pose graph and then publishes a mean and variance map of the readings using the KernelDM+V method.

Subscribes to:

• /spot2/co2

  • hw_msgs/PointSourceDetection

• /base1/lamp/pose_graph

  • pose_graph_msgs/PoseGraph

Publishes:

• /spot2/co2_marker

  • visualization_msgs/MarkerArray

• /gas_var_markers

  • visualization_msgs/MarkerArray

• /gas_mean_markers

  • visualization_msgs/MarkerArray