luxi-huang / Whisker_Robot

Map building and object detection by whisker sensors

README.md for Whisker Robot Senor Mapping Package

• Author：Luxi Huang
• Skills: SLAM, Mapping, Sensor-data-analysis, ROS, C++

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Package description:

• This SLAM project is using whisker touching sensor to do object detection and map building.
• It implement Whisker Physics Simulator to get whisker sensor data.
• Then it transfer the whisker 3D sensor data to 2D laser scan data and implement with Slam_toolbox to build the map.

Package files:

1. src/object_detection_node.cpp:

• This file initial NodeHandle and create object_detection node. It includes ObjectDetect class to convert whisker sensor data to 2D scan data and build the map.

2. src/object_detect.cpp:

• This is the Class Constructor for ObjectDetect.

3. include/object_detect.hpp:

• Header file for the ObjectDetect class.

4. launch/object_detect.launch :

• The launch file include all node files for whisker sensor data detect objects and build mapping.

5. data/

• It contains all whisker sensor data which got from Whisker Physics Simulator.

How to use files

1. Clone the files and using wstool to download all related packages.

2. $ roslaunch whisker object_detect.launch

3. $ roslaunch slam_toolbox offline.launch

4. $ rostopic echo /scan

5. open Rviz, change frame to map, and add map and other topics.