/ROS_Waypoints_Processor

Waypoints processor in pure ROS (Melodic)

Primary LanguagePythonApache License 2.0Apache-2.0

Waypoints Processor

passing license

Demo.png

To run this project, you need to complete the localization first.
Here is a project ROS_NDT_Localizer may help :)

Environment

  • Ubuntu 18.04
  • ROS Melodic

Waypoints Recorder

Generate the waypoints according to the position & orientation, and save the records.

Data

  • RosBag for offline testing

IO

  • input
    /ndt_pose (geometry_msgs::PoseStamped)
  • output
    /waypoint_marker (visualization_msgs::Marker) for visualization on RVIZ
    waypoints records in .txt format

How to use

  • Complete the localization steps, e.g. ROS_NDT_Localizer.

  • Set the configuration in record_waypoints

    # line 75
waypoint_recorder(sub="/ndt_pose", file_name='./waypoints.txt', interval=1)

  • Run the waypoint recorder, and the record will stored in the waypoint_files.

    python record_waypoints.py

    the recorded waypoints are organized as follow:
    position.x,position.y,position.z,orientation.x,orientation.y,orientation.z,orientation.w

  • Play the rosbag for offline testing

    rosbag play offline_testing.bag

Waypoints Loader

Load and publish the waypoints record.

Data

  • Waypoints record file (.txt format)
  • RosBag for offline testing

IO

  • input
    waypoints records in .txt format
  • output
    /waypoints (nav_msgs::Path)

How to use

  • Complete the localization steps, e.g. ROS_NDT_Localizer.
  • Set the configuration in load_waypoints 
    # line 59
waypoints_path = "./waypoints_files/waypoints.txt"
  • Run the waypoint loader 
    python load_waypoints.py

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