NOTE: This repository is related with the next scientific work:
Barral, V.; Escudero, C.J.; García-Naya, J.A.; Maneiro-Catoira, R. NLOS Identification and Mitigation Using Low-Cost UWB Devices. Sensors 2019, 19, 3464.https://doi.org/10.3390/s19163464
If you use this code for your scientific activities, a citation is appreciated.
This project contains the forklift, sensors and world models and several .launch
files to start a Gazebo simulation.
To launch a single simulation:
$ roslaunch gtec_gazeboforkliftsimulation forklift_gazebo_simulation.launch
This launcher launches the next nodes:
- Gazebos node. The node that launches the Gazebo simulator. A parameter
<arg name="gui" value="true"/>
can be used to select if Gazebo GUI is showed or not. gazebo_guide
from packetgtec_gazebo2ros
This node moves the vehicle according the rules set in a.xml
file.gazebo2ros
from packetgtec_gazebo2ros
publish topics from Gazebo in ROS.genericrangingfixer
publishes measurements from the UWB anchors.kfpos
location algorithm that publishes the position estimations.
To launch a set of simulations without position estimation can be used:
$ roslaunch gtec_gazeboforkliftsimulation forklift_gazebo_simulation_no_kfpos.launch
In this case the kfpos
node is not launched. Instead, the nodes gazebo_auto_guide
and gazebo_restart_service
are launched to repeat the simulation several times.