NEW: Join the community on Slack to discuss Robaka implementations!
by Andrei Zugravu
by Luis Augusto Silva and ESALab Team
by Liangkai Zhang
This is the ROS package for Robaka, my ROS and SLAM mobile testbed. Robaka uses ros_control with hardware driver from this repo, which relies on hoverboard custom firmware by Bipropellant.
If you're looking for the Arduino-based Robaka 1, the code is on robaka-1 branch.
To start:
$ sudo apt-get install ros-melodic-desktop-full
$ rosdep install robaka
$ catkin_make
$ roslaunch headlessrobaka robaka.launch
On desktop:
$ roslaunch uirobaka.launch
OR
$ roslaunch robaka robaka_cartographer_localization.launch load_state_filename:=<FULLPATH>/laserdata25.bag.pbstream
Refer to https://google-cartographer-ros.readthedocs.io/en/latest/ for SLAM details.
Run live SLAM:
$ roslaunch robaka slammingrobaka.launch
Record bag:
$ rosbag record -a -O ./mylaserdata10.bag
Validate bag:
$ cartographer_rosbag_validate -bag_filename=mylaserdata10.bag
Offline SLAM:
$ roslaunch robaka offline_slam.launch bag_filenames:=/home/des/catkin_ws/mylaserdata10.bag
Save map:
$ rosrun map_server map_saver -f map1
Save online SLAM state for cartographer .pbstream:
$ rosservice call /finish_trajectory 0
$ rosservice call /write_state "{filename: '/home/alex/mylaserbag23.bag.pbstream'}"
NOTE: patch cartographer as described here cartographer-project/cartographer#1498 (comment) to fix global costmap issue
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2020-03-26 Added teleop with PS4 controller, using the driver from Naoki Mizuno
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2020-04-08 Added semantic segmentation for driveable surface. Not tested yet. Cloned repo, implemented by Dheera Venkatraman.
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2020-04-18 Semantic segmentation actually works on a pre-trained network. Started work on transforming the mask using camera homography into a costmap, documenting here
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2021-03-10 Added LCD display to show robot status. Added "AR tag follower" mode. Switched hoverboard driver from speed control to PWM control (much smoother motion).