/harmony

ROS tools and utilities for the Harmony project at ETHZ.

Primary LanguageCMake

Harmony

The harmony package developed for dynamic obstacle velocity estimation.

Installation

  • Run rosdep update
  • Run sudo apt install python3-vcstool
  • Run vcs import --recursive --input harmony.repos

Usage

  • Create a map using mapping.launch
  • Save the map using map_saver in map_server (ensure the /map topic is saved)
  • Dilate/inflate the map around static obstacles (plus some margin) using a painting program, e. g. Krita
  • Ensure the modified map is loaded
  • Run localization.launch, give an initial ICP estimate
  • Run tracking.launch
  • Enjoy!