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Scout IPS Sensor Fusion

This package contains The code used in a student research project examining the use of the ultrasonic indoor positioning system (IPS) by marvelmind robotics in mobile robotics. It implements a sensor fusion concept for fusing the ultrasonic IPS data with odometry and imu data, as well as AMCL localization data using two kalman filters. Ground truth data is recorded by a faro laser tracker.

The Students' code is contained in the ips_sensor_fusion package. In Addition to these packages, the marvelmin Dashboard is used.

Author : Pitt Müller

E-Mail: [email protected]

installation

  • create catkin workspace
  • $sudo apt-get update
  • $sudo apt-get install build-essential git cmake libasio-dev
  • navigate to catkin workspace src folder
  • clone this repository using $git clone [repo name] --recursive
  • use $git submodule update --init if alredy cloned submodules are empty. For submodules of Submodules $git submodule update --init --recursive may be necessary
  • copy recording files from flash drive or match server to /ips_sensor_fusion/data/

Marvelmind Dashboard installation

  • Download latest Dashboard version and copy linux folder to desired path
  • Copy libdashapi.so to /usr/local/lib using $sudo cp libdashapi.so /usr/local/lib
  • grant user serial access permission using the dialout group
    • $sudo adduser $dialout
    • add file "99-tty.rules" to /etc/udev/rules.d
    • add file content:
      #Marvelmind serial port rules
      KERNEL == "ttyACM0", GROUP="dialout", MODE="666"
  • execute $sudo ldconfig
  • make dashboard executable $sudo chmod 0777 ./dashboard_x86
  • run dashboard

packages

.
├── ips_sensor fusion       #student code
│   ├── final_configuration_recordings  #results and recorded bags
|   ├── floorplan                       #amcl floorplan 
|   ├── launch                          #all launch files
|   ├── data                            #directory for recorded bags, put recorded files here
|   ├── parameter_configs               #covariance and filter config
|   ├── static_points                   #marvelmind accuracy test
|   └── utility                         #data conversion scripts
|
|   #third party submodules
├── openslam_gmapping       #gmapping submodule
├── slam_gmapping           #another gmapping submodule
├── ps4_controller          #control scout robot via ps4 remote
├── robot_localization      #kalman filter package
├── ros_marvelmind_package  #interface ros and marvelmind
├── rplidar_ros             #lidar driver
├── scout_mini              #main scout robot driver
├── scout_ros               #scout ros interface
└── ugv_sdk                 #scout can-Bus interface

used submodules