Metric Mapping Baseline

[Jbwasse2]

A baseline method would be useful to compare against the topological mapping methods. Here is a suggested method 1) Metric mapping using RTAB-map http://wiki.ros.org/rtabmap 2) Navigation using the ROS navigation stack 2 by Steve Macenski

Be sure to find out what sensors are needed. It looks like our version of Mateus' branch didn't have IMU in it, so we may have to update the robot's code.

[Jbwasse2]

Aseem uses l515 camera which he says works well for in door nav. He also used d435 which works ok indoors and outdoors.

[dorianisnairod]

RTAB sensors

• "RTAB-Map can be used alone with a handheld Kinect, a stereo camera or a 3D lidar for 6DoF mapping, or on a robot equipped with a laser rangefinder for 3DoF mapping." Source.
• Setups for different configurations can be found here. Mainly focused on Kinect use, but documentation of Kinect + Odometry + 2D laser can be conglomerated with that of Stereo A.
  • I will look into checking that nodes viso2_ros and stereo_image_proc are installed.
  • Remote visualization and mapping is documented here too.

[dorianisnairod]

Nav2

• "Navigation2 uses a behavior tree for navigator task orchestration and employs new methods designed for dynamic environments applicable to a wider variety of modern sensors." - from "The Marathon 2: A Navigation System".
• Notes from this video, talking about the navigation system.
  • Behavior Tree-based Navigation
  • Can provide custom behavior tree XML files, and models more complex tasks than a FSM.
  • Modularized servers possible for planning, controlling, and recovery
  • It reminds me of a locomotion machine.
  • Sensor processing for collision avoidance
  • Local trajectory and path planners
  • Recovery behaviors
  • Positioning system agnostic
  • As such, it can be paired with different systems of positioning (such as metric, topological, GPS, etc) for localization.
  • Nav2 provides a full simulation environment and robot to start off with and experiment on.
  • Dynamic object and waypoint following
  • LIDAR-based localization
  • Works with all major robot types

[dorianisnairod]

It would be best to setup RTAB map with zedcam working, will postpone.

[dorianisnairod]

https://github.com/stereolabs/zed-ros-examples/blob/master/examples/zed_rtabmap_example/README.md

[dorianisnairod]

[ 81%] Linking CXX executable ../../../bin/rtabmap /usr/lib/x86_64-linux-gnu/libSM.so: undefined reference to uuid_generate@UUID_1.0' //home/companion/anaconda3/lib/libfontconfig.so.1: undefined reference toFT_Done_MM_Var' /usr/lib/x86_64-linux-gnu/libSM.so: undefined reference to uuid_unparse_lower@UUID_1.0' ../../../bin/librtabmap_core.so.0.20.12: undefined reference tors2_get_active_streams' collect2: error: ld returned 1 exit status app/src/CMakeFiles/rtabmap.dir/build.make:445: recipe for target '../bin/rtabmap' failed make[2]: [../bin/rtabmap] Error 1 CMakeFiles/Makefile2:416: recipe for target 'app/src/CMakeFiles/rtabmap.dir/all' failed make[1]: [app/src/CMakeFiles/rtabmap.dir/all] Error 2 Makefile:149: recipe for target 'all' failed make: *** [all] Error 2

This is the latest error in rtabmap compilation.

[dorianisnairod]

https://github.com/introlab/rtabmap/issues/162 http://official-rtab-map-forum.67519.x6.nabble.com/error-in-installing-rtabmap-on-raspberry-pi-3-B-td5457.html For tomorrow

[dorianisnairod]

May need https://github.com/RavenProject/Ravencoin/issues/25 installed again after seeing errors on rtabmap

[Jbwasse2]

Go for it, I shouldn't have deleted it. My bad!