Difference between revisions of "Installing Packages Required for SLAM"

From Lofaro Lab Wiki
Jump to: navigation, search
(→‎Below is a quick tutorial on installing these packages on ROS using a catkin workspace:)
(→‎The Packages that we are using for RGBDSLAM are:)
Line 3: Line 3:
  
  
−
== The Packages that we are using for RGBDSLAM are:==
+
== Github Folder Explanation==
  
−
'''rgbdslam''':  Comprises of the program that will connect to the openni2_camera messages and use them to create a 3d map of what is seen as the camera moves. Parts of the Cmake file had to be edited to make it build properly. These edits will be in our Github repository.
+
This is a catkin repository for ROS. This project was designed for ROS Hydro. If another ROS distro is used, MILES may not work properly
  
−
'''octomap_server''': Dependency of rgbdslam. Used to save out the 2d map.
+
There are 5 different folder for MILES. Below are their names and what they contain:
  
−
'''octomap_ros''': Dependency of rgbdslam package.
 
  
−
'''octomap_msgs''': Dependency of rgbdslam package.
+
'''Control:'''
  
−
'''opennni2_camera''': Has the drivers to connect to various RGBD sensors including our own. You will need to use openni2 not openni.
+
Contains the ros packages that allow the computer to drive the pioneer3dx.
  
−
'''openni2_launch''': Launches openni2 nodes and starts sending out image, depth, and pointcloud data as ros messages.
+
'''Mapping:'''
  
−
'''libg2o''': Dependency of rgbdslam package.
+
Contains different packages that allow the computer to interface with different sensors to map the environment and create a 2D map and also collect WIFI Data. If you are not using rgbdslam, you may want to delete the package as it is very large.
  
−
'''arm_navigation''': Dependency of rgbdslam package.
+
'''MILES:'''
  
−
'''octovis''': Used to view the created map.
+
This is the package that go onto the integrated Computer. For our design we used a Raspberry Pi 2. This includes the Localizer(Reader) and the seriallistener that will listen to serial ports.
 +
 
 +
'''MISC:'''
 +
 
 +
This contains packages that are used in more than one area. For example, the wifi_scanner package is used in both Mapping and the MILES integrated system.
 +
 
 +
'''Navigation:'''
 +
 
 +
This contains packages that are used to interface with the MILES device and the pioneer3dx to navigate around.
  
 
== MILES packages on ROS using a catkin workspace: ==
 
== MILES packages on ROS using a catkin workspace: ==

Revision as of 14:34, 27 April 2015

We are currently working on getting access to the LofaroLabs Github to be able to push our catkin workspace. This will make writing the tutorial very easy.


Github Folder Explanation

This is a catkin repository for ROS. This project was designed for ROS Hydro. If another ROS distro is used, MILES may not work properly

There are 5 different folder for MILES. Below are their names and what they contain:


Control:

Contains the ros packages that allow the computer to drive the pioneer3dx.

Mapping:

Contains different packages that allow the computer to interface with different sensors to map the environment and create a 2D map and also collect WIFI Data. If you are not using rgbdslam, you may want to delete the package as it is very large.

MILES:

This is the package that go onto the integrated Computer. For our design we used a Raspberry Pi 2. This includes the Localizer(Reader) and the seriallistener that will listen to serial ports.

MISC:

This contains packages that are used in more than one area. For example, the wifi_scanner package is used in both Mapping and the MILES integrated system.

Navigation:

This contains packages that are used to interface with the MILES device and the pioneer3dx to navigate around.

MILES packages on ROS using a catkin workspace:

1.) We first need to make a catkin workspace. Open a terminal and type: 

   mkdir -p ~/catkin_ws/src

   cd ~/catkin_ws/src

   catkin_init_workspace

2.) Now you will need to clone the directory to get the required packages for SLAM: 

   cd ~/catkin_ws/src

   git clone https://github.com/LofaroLabs/MILES.git

3.) You may need to source your catkin workspace: 

   source ~/catkin_ws/devel/setup.bash

4.) After cloning the repository you will need to get some dependencies installed: 

   rosdep install rgbdslam

   rosdep install gaussian_process

   rosdep install openni2_camera

   rosdep install wifi_scanner

   rosdep install rosaria

   rosdep install octomap_server

   rosdep install metareader

   rosdep install pioneer_2dnav

   sudo apt-get install ros-hydro-hokuyo_node

   sudo apt-get install ros-hydro-octovis

   sudo apt-get install libiw-dev

   sudo apt-get install ros-hydro-cmake-modules

5.) Now that we have the dependencies we can build the catkin directory: 

   cd ~/catkin_ws

   catkin_make


--Rtindel2 (talk) 11:33, 28 October 2014 (EDT)

Retrieved from "http://wiki.lofarolabs.com/index.php?title=Installing_Packages_Required_for_SLAM&oldid=1372"