DICH

The Difference Image Correspondence Hierarchy (DICH) is a an architecture for image-based teach-repeat navigation of differential drive robots. This

Build & Install

DICH is built using catkin. Type the commands below on a terminal window to create a catkin workspace, clone the repository and build the sources:

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace
$ git clone https://github.com/xperroni/dich.git
$ cd ..
$ catkin_make

Usage

Launch scripts in the launch/ folder can be used for acquisition of teach records, computation of ground truth values, and performing replay trips.

A teach record is composed of a video file and a list of steering commands collected during the teach step. The teach.launch script will write a video file to the specified folder, but the steering commands file must be created out of the teach node log file. This is done using the steerings.py script, for example:

$ python scripts/steering.py ~/.ros/log/latest/teach-4-stdout.log > steerings.txt