https://github.com/zalanlevai/com3528
https://github.com/zalanlevai/com3528
Last synced: 2 months ago
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- Host: GitHub
- URL: https://github.com/zalanlevai/com3528
- Owner: zalanlevai
- Created: 2022-03-24T17:44:39.000Z (about 3 years ago)
- Default Branch: main
- Last Pushed: 2022-05-16T13:10:15.000Z (about 3 years ago)
- Last Synced: 2025-01-25T16:44:55.247Z (4 months ago)
- Language: Python
- Size: 54.7 KB
- Stars: 1
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# COM3528: Investigating Maze Navigation Approaches for MiRo Robots
## Usage
Prepare the project using the following commands:
```sh
catkin build
src
```
Before launching any of the control methods, open the simulated Gazebo environment using the `sim.launch` launch file.
```sh
roscore
roslaunch team08 sim.launch
```
### Sonar
```sh
roslaunch team08 ctrl_sonar.launch
```
### Colour Detection
```sh
roslaunch team08 ctrl_color.launch
```
### Stereo Imaging
```sh
roslaunch team08 stereo_camera.launch
```
While runnning, view the stereo imaging of the `stereo_image_proc` package by running the following command:
```sh
rosrun image_view stereo_view stereo:=/miro/sensors/stereo image:=image_rect_color _approximate_sync:=True
```
While running, view the point clouds produced by running RViz and adding the following topics:
* `stereo_image_proc` (ROS built-in): `/miro/sensors/stereo/points2`
* `stereo_camera_depth` (custom): `/miro/sensors/stereo/depth`
### Odometry
```sh
roslaunch team08 ctrl_odometry.launch
```