phuongboi / fastslam-with-coppeliasim

FastSLAM with Pioneer robot in CoppeliaSim(V-REP)

This repository is my re-implementation of FastSLAM with Pioneer robot and SICK lidar in CoppeliaSim(V-REP)

• My implemantaion is the combine of 2 repository 1 and 2, where I used room scenerio from [1] and modify the scrip to use ROS interface instead of V-rep python API, I used FastSLAM for grid mapping from [2] using data from V-rep instead of modeling data.

[07/03/2024] Fix wrong convert from quaternion to euler

[3/11/2023] First commit

• Using map resolution 150x150 (grid resolution is 10cm) to reduce computation complexity
• Sampling 54 among 270 sensor of SICK TIM310
• Using real odometry information

TODO

• Fix wrong data transformation
• Convert from velocity signal to odometry

CoppeliaSim simulation

Output Map

Requirements

• CoppeliaSim v4.5.1 linux
• ROS Noetic, rospy
• OpenCV

Setup

• Launch roscore in one terminal before launch Coppeliasim in another terminal to make sure that CoppeliaSim can load ROS plugin properly
• Open vrep_scenario/room_d.ttt in CoppeliaSim and modify child_script of Pioneer_p3dx by v_rep_scenario/rosInterface_slam.lua
• Start CoppeliaSim simulation, make sure topics is work as expect by rostopic list
• Run python fastslam1.py

Reference

• [1] https://github.com/andriusbern/slam
• [2] https://github.com/kunnnnethan/FastSLAM
• [3] Montemerlo, Michael, et al. "FastSLAM: A factored solution to the simultaneous localization and mapping problem." Aaai/iaai 593598 (2002).
• [4] Grisetti, Giorgio, Cyrill Stachniss, and Wolfram Burgard. "Improved techniques for grid mapping with rao-blackwellized particle filters." IEEE transactions on Robotics 23.1 (2007): 34-46.