Ros2RoboticsCpp

Implement popular robotics algorithms in C++ and ROS2

• To-do-list
  • Localization:
    • EKF localization
    • Particle filter localization
  • Mapping:
    • Lidar to grid map
    • Kmeans_clustering
  • SLAM:
    • EKF SLAM
    • FastSLAM
  • Path Planning
    • Dynamic Window Approach
    • A*
    • Probabilistic Road-Map
    • Rapid-Exploring Random Trees (RRT)

Localization

• EKF_localization

  • Red Markers: Robot pose estimated with EKF
  • Blue Markers: Ground-truth poses
  • Green Markers: Robot poses obtained from Observations
  • Black Markers: Robot pose estimated with Dead Reckoning

  ros2 launch ekf_localization ekf_launch.launch.py

  

• Particle_filter

  • Red Markers: Robot pose estimated with Particle Filter
  • Blue Markers: Ground-truth poses
  • Green Markers: Particles poses
  • Black Markers: Robot pose estimated with Dead Reckoning
  • Brown Markers: Landmarks

  ros2 launch particle_filter particle_filter.launch.py

  

• Lidar2GridMap

  • Left plot: 2D Laser scanning point cloud
  • Right plot: Occupancy grid map

  ros2 launch lidar2gridmap lidar2gridmap.launch.py 

  

• Kmeans_clustering

  • Red Sphere: Object pose
  • Cluster with different colors as different labels

  ros2 launch kmeans_clustering kmeans.launch.py 

  

• EKF SLAM

  • Red Sphere: Robot pose estimated with EKF-SLAM
  • Blue Markers: Ground-truth poses
  • Black Markers: Robot pose estimated with Dead Reckoning
  • Black Rec: GT poses of Landmarks
  • Green Rec: Landmark poses estimated with EKF-SLAM

  ros2 launch ekf_slam ekf_slam.launch.py

  

• Dynamic Window Apporach

  • Red Sphere: Robot pose and its traversal path
  • Green Markers: Best predicted trajectory
  • Black Markers: Obstacles
  • Yellow Markers: Goal

  ros2 launch dwa dwa_run.launch.py

  

• A Star From Both Sides

  • Green Markers: Best predicted trajectory
  • Black Markers: Environment including boundary and obstacles
  • Yellow markers: Passing nodes from star to end
  • Green marker: Passing nodes from end to start

  ros2 launch a_star_two_sides a_star_two_sides.launch.py

  

• FastSLAM 1.0

  • Green Markers: Particle poses
  • Black Markers: Robot pose estimated with Dead Reckoning
  • Black Rec: Landmark poses
  • Red Markers: Robot pose estimated with FastSlam 1.0
  • Blue Markers: Robot pose GT

  ros2 launch fast_slam fastSlam1.launch.py

  

Reference

AtsushiSakai/PythonRobotics