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Welcome Lab 9 - LUMSweb.lums.edu.pk/~akn/Files/Other/teaching/mobile robotics... · Creating grid...
Transcript of Welcome Lab 9 - LUMSweb.lums.edu.pk/~akn/Files/Other/teaching/mobile robotics... · Creating grid...
Creating grid map using IRobot-Create equipped with laser scanner
Welcome
Lab 9
Dr. Ahmad Kamal Nasir
25.03.2015 Dr. Ahmad Kamal Nasir 1
EE565: Mobile Robotics LabTask9: Creating grid map using IRobot-Create equipped with laser scanner
Today’s Objectives
• A robot is in unknown environment for the first time, what to do next?
• One of the most fundamental problems in mobile robotics is map building of an unknown environment
• At the moment two most commonly used SLAM implementations in 2D are GMapping/OpenSLAMand Hector SLAM
• In this class we will build a map of an environment with the GMapping algorithm using both real hardware and Gazebo simulation.
25.03.2015 Dr. Ahmad Kamal Nasir 2
EE565: Mobile Robotics LabTask9: Creating grid map using IRobot-Create equipped with laser scanner
Introduction to GMapping
• GMapping uses particle filter, Rao-Blackwellized, to solve SLAM problem.
• Each particle carries an individual map of the environment
• The approach takes raw laser range data and odometry
• This version is optimized for long-range laser scanners like SICK LMS or PLS scanner. Short range lasers like Hokuyo scanner will not work that well with the standard parameter settings
25.03.2015 Dr. Ahmad Kamal Nasir 3
EE565: Mobile Robotics LabTask9: Creating grid map using IRobot-Create equipped with laser scanner
Gmapping requirements
• Hardware
– Odometry data
– 2D laser range scanner data
• Subscribed topics
– tf (to relate laser, odometry and base frame)
– scan (2d laser range scan to create map)
• Published topics
– Map (resultant grid map)
25.03.2015 Dr. Ahmad Kamal Nasir 4
EE565: Mobile Robotics LabTask9: Creating grid map using IRobot-Create equipped with laser scanner
Important Parameters
• base_frame: The frame attached to the robot plateform
• odom_frame: The frame attached to the odometry system
• maxUrange: The maximum laser range
• xmin, ymin, xmax, ymax: initial map size
• linearUpdate: update map after linear dist.
• angularUpdate: update map after angular dist.
25.03.2015 Dr. Ahmad Kamal Nasir 5
EE565: Mobile Robotics LabTask9: Creating grid map using IRobot-Create equipped with laser scanner
Gmapping Setup
<?xml version="1.0"?><launch><param name="/use_sim_time" value="true" />
<node pkg="rosbag" type="play" name="Recording“ args=“/home/ahmad/2013-06-02-19-17-00.bag"/>
<node pkg=“gmapping" type=“slam_gmapping" name=“SLAM“><remap from="scan" to="/base_scan"/><param name="maxUrange" value=“80.0"/><param name="linearUpdate" value="0.1"/><param name="angularUpdate" value="0.05"/><param name="xmin" value="-25.0"/><param name="ymin" value="-25.0"/><param name="xmax" value="25.0"/><param name="ymax" value="25.0"/>
</node>
<node pkg="rviz" type="rviz" name="rviz" output="screen" args="-d /home/ahmad/rviz.rviz" /></launch>
25.03.2015 Dr. Ahmad Kamal Nasir 6
EE565: Mobile Robotics LabTask9: Creating grid map using IRobot-Create equipped with laser scanner
Effect of range scan (2m)
25.03.2015 Dr. Ahmad Kamal Nasir 7
EE565: Mobile Robotics LabTask9: Creating grid map using IRobot-Create equipped with laser scanner
Effect of range scan (4m)
25.03.2015 Dr. Ahmad Kamal Nasir 8
EE565: Mobile Robotics LabTask9: Creating grid map using IRobot-Create equipped with laser scanner
Effect of range scan (8m)
25.03.2015 Dr. Ahmad Kamal Nasir 9
EE565: Mobile Robotics LabTask9: Creating grid map using IRobot-Create equipped with laser scanner
Effect of range scan (80m)
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EE565: Mobile Robotics LabTask9: Creating grid map using IRobot-Create equipped with laser scanner
Using GMapping with Gazebo Simulation
25.03.2015 Dr. Ahmad Kamal Nasir 11
EE565: Mobile Robotics LabTask9: Creating grid map using IRobot-Create equipped with laser scanner
Resultant Simulated Environment Map
25.03.2015 Dr. Ahmad Kamal Nasir 12
EE565: Mobile Robotics LabTask9: Creating grid map using IRobot-Create equipped with laser scanner
Questions
25.03.2015 Dr. Ahmad Kamal Nasir 13