Difference between revisions of "Setting up RGBDSLAM with ROS in the real world"

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1.) Plug the Kinect Sensor into the computer.
 
1.) Plug the Kinect Sensor into the computer.
 +
 +
 
2.) Also plug the Pioneer 3dx into the computer.
 
2.) Also plug the Pioneer 3dx into the computer.
  
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2.) Open a terminal and type:
 
  
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  roslaunch rgbdslam openni+rgbdslam.launch
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3.) Also plug the joystick into the computer.
  
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This will do the following:
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 +
4.) Open a terminal and type:
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 +
  roslaunch rgbdslam odometry.launch
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 +
[['''This will do the following:''']]
  
 
spin up the openni2 node
 
spin up the openni2 node
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spin up the octomap server
 
spin up the octomap server
  
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3.) Open another terminal and type:
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opens rviz with all topics subscribed correctly
  
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   sudo chmod 777 ttyUSB0
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5.) Open another terminal and type:
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   sudo chmod 777 /dev/ttyUSB0
 
    
 
    
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   rosaria
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   rosrun rosaria RosAria port:=/dev/ttyUSB0
  
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This will do the following:
+
[['''This will do the following:''']]
  
 
Make the connection to the robot that will allow the control of the motors
 
Make the connection to the robot that will allow the control of the motors
  
  
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4.) Open another terminal and type:
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6.) Open another terminal and type:
  
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   rosrun pioneer3dx 3dxControl
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   sudo chmod 777 /dev/input/js0
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  roslaunch joy_control pioneer_joy.launch
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This will do the following:
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[['''This will do the following:''']]
  
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This is a controller that will allow the user to control the motors.
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This is a controller that will allow the user to control the motors using a joystick.
  
  
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5.) We are now ready to start SLAMMing. Put your focus on rgbdslam and press the spacebar
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7.) We are now ready to start SLAMMing. Put your focus on rgbdslam and press the spacebar
  
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This will do the following:
+
[['''This will do the following:''']]
  
 
The mapping process will begin
 
The mapping process will begin
  
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6.) Use the key controller to begin moving the robot VERY SLOWLY.
 
  
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This will do the following:
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8.) Use the joystick to begin moving the robot VERY SLOWLY.
 +
 
 +
[['''This will do the following:''']]
  
 
The map will begin to grow. You will see Landmarks on the bottom left of the RGBDSLAM window and they will be showing the Visual Odometry.
 
The map will begin to grow. You will see Landmarks on the bottom left of the RGBDSLAM window and they will be showing the Visual Odometry.
  
−
7.) Open a new terminal and type:
 
  
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  rosrun rviz rviz
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9.) Press the Add button in RVIZ and go to the "by topic" tab. Scroll down and choose the "/project_map" topic.
 +
 
 +
[['''This will do the following:''']]
 +
 
 +
RViz is now ready to visualize the map from the octomap server.
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 +
 
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10.) In the RGBDSLAM window press CTRL+m
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 +
[['''This will do the following:''']]
 +
 
 +
The pointclouds will be sent to the octomap server. Rviz will begin to populate a 2D map.
  
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This will do the following:
 
  
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RViz will be opened. This will allow us to view the 2d Map from the octomap_server.
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11.) When you are finished press the Spacebar in RGBDSLAM.
  
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To start rgbdslam press the spacebar.
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[['''This will do the following:''']]
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When you are finished you can stop the process by going to Processing->Process in the menu.
+
  
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Next press Ctrl+m in rgbdslam
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RGBDSLAM will stop processing
  
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Now open a new terminal and type:
 
  
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rosrun rviz rviz
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12.) To save the created map, open a terminal and type:
  
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Inside rviz press the Add button and add the Map topic.
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  rosrun map_server map_saver -f map map:=projected_map
  
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Make sure to also change the Fixed frame to map.
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[['''This will do the following:''']]
  
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That is all I have for now guys. I will be on Monday around 2 until 7 hopefully. I realize we need to start getting this thing rolling and will be placing proper priority on this. Please make sure the Kinect Sensor is there on Monday so I can use it.  I will be working on refining the 2D map to make a proper ground truth map and also finding out how to save the 2d map.
+
a map.pgm file and a map.yaml file will be save to file

Latest revision as of 22:46, 9 February 2015

1.) Plug the Kinect Sensor into the computer.


2.) Also plug the Pioneer 3dx into the computer.


3.) Also plug the joystick into the computer.


4.) Open a terminal and type: 

  roslaunch rgbdslam odometry.launch

'''This will do the following:'''

spin up the openni2 node ​ spin up the rgbdslam node

spin up the octomap server

opens rviz with all topics subscribed correctly


5.) Open another terminal and type: 

  sudo chmod 777 /dev/ttyUSB0
 
  rosrun rosaria RosAria port:=/dev/ttyUSB0

'''This will do the following:'''

Make the connection to the robot that will allow the control of the motors


6.) Open another terminal and type: 

  sudo chmod 777 /dev/input/js0
  
  roslaunch joy_control pioneer_joy.launch

'''This will do the following:'''

This is a controller that will allow the user to control the motors using a joystick.


7.) We are now ready to start SLAMMing. Put your focus on rgbdslam and press the spacebar

'''This will do the following:'''

The mapping process will begin


8.) Use the joystick to begin moving the robot VERY SLOWLY.

'''This will do the following:'''

The map will begin to grow. You will see Landmarks on the bottom left of the RGBDSLAM window and they will be showing the Visual Odometry.


9.) Press the Add button in RVIZ and go to the "by topic" tab. Scroll down and choose the "/project_map" topic.

'''This will do the following:'''

RViz is now ready to visualize the map from the octomap server.


10.) In the RGBDSLAM window press CTRL+m

'''This will do the following:'''

The pointclouds will be sent to the octomap server. Rviz will begin to populate a 2D map.


11.) When you are finished press the Spacebar in RGBDSLAM.

'''This will do the following:'''

RGBDSLAM will stop processing


12.) To save the created map, open a terminal and type: 

  rosrun map_server map_saver -f map map:=projected_map

'''This will do the following:'''

a map.pgm file and a map.yaml file will be save to file

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