Install Ubuntu and ROS according to these instructions (skip network configuration): https://emanual.robotis.com/docs/en/platform/turtlebot3/quick-start/
(On the HK computers, this will have been done ahead of time)
At a convenient location in the file system (for example in the home directory), create a new catkin workspace by entering the following terminal commands
mkdir -p catkin_ws/src
cd catkin_ws/
catkin_make
Create your own fork of this repository (instructions on how to do this: https://docs.github.com/en/github/getting-started-with-github/fork-a-repo)
Move to the newly created src directory and clone your fork of the repository
cd src
git clone url-to-your-fork-of-the-repo/hk_ros_2021.git
Then move back up to the workspace root and build
cd ..
catkin_make
Download the folder of test rosbags from https://kth.box.com/s/tf19gvf44gnp9qvypyu4unehfaguwp6a and save at a convenient location (not in a .git repository because git does not like large binary files)
In a terminal, run
roslaunch hk_ros_2021 hk_ros_2021.launch
This will start a new Rviz window.
In a second terminal, cd to the directory where you downloaded the bagfile and run
rosbag play --clock name-of-bagfile.bag
Now the Rviz window will start visualizing sensor data.
As of February 9, we have provided the ground truth positions for the first bagfile, and a plot script (both located in exported_detection_logs) which you can use to test your solution during development. To test the plot script, open a terminal, cd to exported_detection_logs and run python hk_ros_2021_eval_plot.py. You may need to install pyyaml: sudo apt-get install python-yaml.
hk_ros_2021.launch is a skeleton launch file that in its initial form will only run some preprocessing of sensor data, and launch rviz. The idea here is that you sequentially add launch commands for downloaded and custom written nodes to this launch file to build your solution to the task.
Hint 1: The comments in hk_ros_2021.launch will give you an idea of what nodes you need to add. Also, notice that some markers in the Rviz configuration are not getting data ("SLAM map and tag detections") this gives you an indication about which nodes you may want to add to your .launch file
Hint 2: Your april tag detector needs to be configured to look for the specific tags we used when setting up the task. For this purpose we have provided the detector setting files in "hk_ros_2021/april_tag_detector_config"
- Terminator - alternative terminal emulator that is convenient when working with multiple terminal windows
- copy and paste does work to and from terminal windows. Just hit shift + ctrl instead of just ctrl