eddiebot_navigation

eddiebot_navigation

This package implements eddiebot navigation stack, which performs map building and navigating a known map given a target goal.

1. Dependencies

For running the eddiebot navigation stack, following packages should be installed

• openni2_launch: this package provides driver for Primesense Carmine
• rtabmap_ros: this package implements Real-Time Appearance-Based Mapping
• iai_kinect2: this package provides driver for Kinect v2

Note: to install iai_kinect2, some dependencies should be installed as prerequisite.

2. Usage

Here, we use eddiebot with Primesene camera as an example, if you want to use eddiebot with Kinect-v2, try minimal_kinect_v2.launch and rtabmap_mapping_kinect2.launch.

2.1 SLAM Map Building

Open a new terminal, boot up all eddiebot drivers

roslaunch eddiebot_bringup minimal_primesense.launch

Open a new terminal, start rtabmap mapping mode

roslaunch eddiebot_navigation rtabmap_mapping.launch

Open a new terminal, start teleoperation through keyboard (i.e., control the eddiebot through keyboard)

roslaunch eddiebot_teleop teleop_keyboard.launch

If you want to view the map building process through rviz, run the following command in a new terminal

roslaunch eddiebot_rviz_launchers view_mapping.launch

Note: when stopping the map building process, by default the map is stored in .ros/rtabmap.db, you can change the saving directory by adding parameter database_path in rtabmap launch process.

For example,

roslaunch eddiebot_navigation rtabmap_mapping.launch database_path:=<new_path>

2.2 Navigating a known map

Once you have built a map or have a known map, you can have the eddiebot navigates the map given a target goal, it can then autonomously plan through the environment.

To send a goal:

1. Click the "2D Nav Goal" button in rviz
2. Click on the map where you want the TurtleBot to drive and drag in the direction the eddiebot should be pointing at the end.

This can fail if the path or goal is blocked.

Open a new terminal, boot up all eddiebot drivers

roslaunch eddiebot_bringup minimal.launch

Open a new terminal, start rtabmap localization mode

roslaunch eddiebot_navigation rtabmap_mapping.launch localization:=true

Open a new terminal, start teleoperation through keyboard (i.e., control the eddiebot through keyboard)

roslaunch eddiebot_teleop teleop_keyboard.launch 

If you want to view the map building process through rviz, run the following command in a new terminal

roslaunch eddiebot_rviz_launchers view_mapping.launch

3. Common Problems

1. Cannot view rtabmap MapData rivz

We use rtabmap rviz plugin to visualize rtabmap MapData. However, this plugin has an internal problem, that is rviz should be launched before rtabmap_mapping.launch. What's more, once you disable it in the rviz, you should restart all the pipeline to re-view the MapData.