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gpr_loc_bringup

The bringup-package for the gazebo simulation that is used to generate training and test datasets for gaussian process regression.
This package intends to

  • modify the Taurob Gazebo model to publish ground-truth odometry
  • loads the default empty.world provided by the gazebo_ros package
  • predefines trajectories used to generate datasets
  • configure a linear controller to enable traversing of the trajectories
    • see the linear_controller ros-package for more details
  • disable the robot_pose_ekf package invoked in taurob_tracker_control.launch and use groundtruth odometry instead
    • the ground truth odometry is published using the p3d_base_controller (see taurob_tacker_flipper.xacro)
    • the p3d_tf_broadcaster_node echoes the groundtruth to the TF tree

Install Dependencies

TODO: add a .rosinstall file.

Prebuilt ROS Packages

sudo apt install -y -q \
    ros-$ROS_DISTRO-move-base ros-$ROS_DISTRO-gmapping ros-$ROS_DISTRO-explore-lite

External Dependencies

Laser Scan Merging

In order to run gmapping on both laser scans, they're combined using the scan_merger node.

Install and build the ira_laser_tools package.

Linear Controller

This package also depends on the linear_controller package, which is provided in the root of the gpr_loc repository.

Launching the simulation

All of the functionality listed above is invoked using a single launch file.

roslaunch gpr_loc_bringup bringup.launch

To set the direction of the training trajectory, supply the parameter dir_ccw:=false (defaults to true).

Disabling the linear Controller

roslaunch gpr_loc_bringup bringup.launch linear_ctrl:=false

Launching the Search And Rescue (SAR) World

NOTE It is recommended to disable the controller for these worlds and use teleop instead (see the optional argument).

roslaunch gpr_loc_bringup bringup.launch sar_world:=true [linear_ctrl:=false]

Starting Gazebo in GUI Mode

To any invocation of bringup.launch, add gui:=true.

SLAM and Exploration

A separate launch file exists for SLAM (using either manual navigation or explore_lite). To start the SLAM simulation scenario, run

roslaunch gpr_loc_bringup bringup_mapping.launch

which will start a simulation in a maze-like world, enabling the robot to navigate using move_base and create an occupancy grid map using gmapping.

Recording Rosbags to generate Datasets

rosbag record /odom /ground_truth/odom /velodyne_points /tf /tf_static /clock
  • the simulation time - std_msgs/Time
  • ground truth odometry - nav_msgs/Odometry
  • pre-computed mechanical odometry - nav_msgs/Odometry
  • velocity control signals - geometry_msgs/Twist
  • raw 3D LiDAR data - sensor_msgs/PointCloud2