oferdagan/fgddf_ros

ROS package for factor graph distributed data fusion on the Jackals

fgddf-ROS

Setup

• Install fglib from ofer modified repository: https://github.com/oferdagan/fglib/tree/Gaussian_mul_expand_branch
  • Alternatively, install from source included in this repository
  • Run python setup.py install in the fglib directory

Running an Experiment

Follow the following steps to run a fgddf_ros experiment. Each number should be executed on a separate, new terminal. In all of the following steps, XXX denotes the IP address of the master computer and YYY denotes the IP address of the robot

1. On master computer:

   source <ros_path>/setup.bash
   source ./network.sh XXX XXX
   roscore
   

2. On master computer:

   source <ros_path>/setup.bash
   source ./network.sh XXX XXX
   roslaunch vrpn_client_ros sample.launch server:=192.168.20.100
   

3. On master computer:

   source <ros_path>/setup.bash
   source ./network.sh XXX XXX
   rosrun fgddf_ros boss.py
   

4. On master computer:

   source <ros_path>/setup.bash
   source ./network.sh XXX XXX
   rosbag record /truth_data /results /measurements
   

5. On EACH robot:

   source ./network.sh XXX YYY
   ./startup.sh aspen
   

6. On EACH robot:

   source ./network.sh XXX YYY
   rosrun fgddf_ros main.py