UW_SLAM

Setting up ROS

• If you have Ubuntu 20.04 or Debian Buster, you can install ROS by following the link: http://wiki.ros.org/noetic/Installation/
• If you have Ubuntu 18.04 or Debian Buster, you can install ROS by following the link: http://wiki.ros.org/melodic/Installation

Cloning this directory

• This directory can be treated as the catkin_ws directory that are explained in most ROS tutorials. Simply run the following command in a directory that is not the catkin_ws directory:

git clone [email protected]:onurbagoren/UW_SLAM.git

• Run the following commands to compile the ROS packages:

cd UW_SLAM
catkin_make
source devel/setup.bash

Visualizing the data

• Initally, make sure that you create a data directory in the src/cirs_girona_cala_ciuda file by running the following command: mkdir -p src/cirs_girona_cala_ciuda/data
• Then, move the data in https://drive.google.com/drive/folders/1lM9ZxQg0g3F8UxILcddMr8hU6OcUg3Hb to the src/cirs_girona_cala_ciuda/data directory.
• Then, run the following command to visualize the data:

roslaunch cirs_girona_cala_ciuda play_data.launch

• This should launch an RViz window that shows the robot, the robots odometry over time, and the sonar readings over time, as shown in the image below.

Relevant Notes

• In the src/cirs_girona_cala_ciuda/launch/play_data.launch file, you can find notes regarding which line to comment of uncomment, depending on your ROS distribution. This is not a major issue, as the visualization will work - but will get rid of the error message that may appear when launching the file.

Relevant Papers

• Please make sure to read the following papers:
  • https://link.springer.com/content/pdf/10.1007/s10514-013-9345-0.pdf
  • https://journals.sagepub.com/doi/pdf/10.1177/0278364917732838
  • https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.21640

Plotting Sonar data

Keep in mind that this visualization is of a 360 degree scan, which takes ~5-20 seconds to complete, per the spec sheet of the sonar on the robot.

cd src/circ_girona_cala_viuda/scripts
python3 visualize_sonar.py