Robotics Algorithm Implementations

cas726

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This package contains the following modules:

• occpancy grid mapping
• landmark-based mapping

Note: Code is for educational purposes and is not optimized for performance

Using Landmark-based mapping

1. Start the simulation environment

   export IGN_GAZEBO_RESOURCE_PATH=install/cas726/share/cas726/worlds/
   ros2 launch cas726 tugbot_bringup.launch.py
   

2. Start the obj_extractor node: ros2 run obj_extractor obj_extractor.

3. Start the landmark mapping node ros2 run cas726 landmark_mapper.

obj_extractor

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This package contains an object detection module.

You can test this module by running

ros2 run obj_extractor obj_extractor
ros2 run obj_extractor test_image_sub

# Then run any node that streams images to the `/front/color_image` topic.

cas726_interfaces

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This contains message and service definitions.

Developing

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Using this prebuilt docker container. The following commands are required before running the launch files: