{"id":18927572,"url":"https://github.com/gentaiscool/ros-vrep-slam","last_synced_at":"2025-10-13T05:09:10.046Z","repository":{"id":74030995,"uuid":"133919349","full_name":"gentaiscool/ros-vrep-slam","owner":"gentaiscool","description":"ROS and V-REP for Robot Mapping and Localization","archived":false,"fork":false,"pushed_at":"2018-06-06T15:57:46.000Z","size":28413,"stargazers_count":45,"open_issues_count":0,"forks_count":13,"subscribers_count":6,"default_branch":"master","last_synced_at":"2025-10-13T05:09:09.049Z","etag":null,"topics":["localization","mapping","robotics","ros","servoing","slam","v-rep"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/gentaiscool.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2018-05-18T07:29:08.000Z","updated_at":"2025-02-05T08:02:05.000Z","dependencies_parsed_at":null,"dependency_job_id":"eadb84df-cfc2-4cfb-970c-16cc90b1283c","html_url":"https://github.com/gentaiscool/ros-vrep-slam","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/gentaiscool/ros-vrep-slam","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/gentaiscool%2Fros-vrep-slam","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/gentaiscool%2Fros-vrep-slam/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/gentaiscool%2Fros-vrep-slam/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/gentaiscool%2Fros-vrep-slam/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/gentaiscool","download_url":"https://codeload.github.com/gentaiscool/ros-vrep-slam/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/gentaiscool%2Fros-vrep-slam/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":279013694,"owners_count":26085390,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-10-13T02:00:06.723Z","response_time":61,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["localization","mapping","robotics","ros","servoing","slam","v-rep"],"created_at":"2024-11-08T11:19:35.930Z","updated_at":"2025-10-13T05:09:10.015Z","avatar_url":"https://github.com/gentaiscool.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# ROS and V-REP for Robot Mapping and Localization\nIt is an implementation of robot mapping and localization using \u003ca href=\"http://www.ros.org/\"\u003eRobot Operating System (ROS)\u003c/a\u003e and V-REP simulator. In this project, the robot can go around the unknown area and use laser sensor to generate the mapping. In addition, we have tasks such as visual servoing and face recognition using camera and OpenCV.\n\n### Demo video\nhttps://youtu.be/n-XK24o42Oo\n\n### Setup\nIn this project, we use Ubuntu 16.04 LTS operating system. \n\nOur project requires several libraries and packages as follows:\n- ROS kinetic full, see http://wiki.ros.org/kinetic/Installation/Ubuntu\n- V-REP 3.5.0 EDU PRO, see http://www.coppeliarobotics.com/downloads.html\n- OpenCV 3.3 for Python, C++\n- Hector slam library\n- g++ 5.5 or later (you may face some compilation issues with older versions)\n\n### Additional Libraries\n```\n# install hector-slam\nsudo apt install ros-kinetic-hector-slam\n```\n\n### Prepare Workspace:\n```\n# git clone this project\ngit clone https://github.com/gentaiscool/elec6910r-ros-project.git\n# make sure you remove build and devel directories\nrm -rf ./build ./devel\n\n# install ROS kinetic from http://wiki.ros.org/kinetic/Installation/Ubuntu\n# install V-REP 3.5.0 from http://www.coppeliarobotics.com/downloads.html\nPrepare the workspace\n# To prepare the workspace\necho \"source /opt/ros/kinetic/setup.bash\" \u003e\u003e ~/.bashrc\nsource ~/.bashrc\ncd ./catkin_ws/\ncatkin_make\necho \"source ./catkin_ws/devel/setup.bash\" \u003e\u003e ~/.bashrc\nsource ~/.bashrc\n\n# copy libv_repExtRosInterface to V-REP directory\ncd catkin_ws/devel/lib\ncp libv_repExtRosInterface.so  ~/V-REP\n\n# double check if you have the following programs:\nrviz\nrqt_graph\n```\n### Run the project:\n```\nroscore\n\n# Execute V-REP\n./vrep.sh\n# Open scene env.ttt in V-REP and start the simulation\n\n# Load keyboard controller\nrosrun project key_teleop.py\n\n# Load the launcher \nroslaunch hector.launch\n\n# Also check rqt_graph and rostopic list\n```\n\n### Features\n\n#### Ros graph\nGenerated by rqt_graph\n\n\u003cimg src=\"images/rosgraph.png\" width=\"400\"/\u003e\n\n#### Keyboard control\nOur code is based on key_teleop.py script. We changed the speed and the publisher node.\n\n\u003cimg src=\"images/keyboard.png\" width=\"400\"/\u003e\n\n```\n# Load keyboard controller\nrosrun project key_teleop.py\n```\n\n#### Visual Servoing\nIn this task, the machine has to track and follow the yellow ball (#FFFF00). \n\n\u003cimg src=\"images/visual_servoing.png\" width=\"400\"/\u003e\n\n#### Face recognition\nIn this example, we detect President Obama's face.\n\n\u003cimg src=\"images/face_detection.png\" width=\"400\"/\u003e\n\n#### Authors\n- Genta Indra Winata (gentaindrawinata@gmail.com / giwinata@connect.ust.hk)\n- Lin Zhaojiang (zlinao@connect.ust.hk)\n\n#### Note\nELEC6910R - Robotic Perception and Learning Final Project in HKUST\n\n#### Acknowledgement\n- Prof. LIU Ming \n- TA: HUANG Kan\n- We also thank Chien-Sheng Wu for the assistance\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fgentaiscool%2Fros-vrep-slam","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fgentaiscool%2Fros-vrep-slam","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fgentaiscool%2Fros-vrep-slam/lists"}