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mapscan's Introduction

MapScan

Using

• Python
• CoppeliaSim and the simulated MyT
• ROS2
• Linux

Project Description

The goal of this project is to detect aruco markers using the robot when it moves around the room.

To run

Terminal #1:

(EVERYTIME CHANGES ARE MADE TO THE PACKAGE CD TO THE ~/dev_ws/ folder):

• cd ~/dev_ws
• colcon build
• source ~/dev_ws/install/setup.bash

Terminal #2:

to get the coppelia sim running

cd ~/apps/CoppeliaSim_Edu_V4_4_0_rev0_Ubuntu20_04
bash coppeliaSim.sh
load the scene that can be found in scene/scene.ttm
press the start button to start the simulation

Terminal #3:

source ~/dev_ws/install/setup.bash
ros2 launch thymioid main.launch device:="tcp:host=localhost;port=33333" simulation:=True name:=thymio0

Terminal #4:

To run the compulsary.launch.xml (for task 3):

• source ~/dev_ws/install/setup.bash
• ros2 launch MapScan controller.launch.xml thymio_name:=thymio0

Terminal #5:

to see the visualisation and camera from the robot pov

ros2 topic list (to see the topics of the robot - thymio0)
rqt

mapscan's People

Contributors

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