RoboticaUtnFrba / create_autonomy

ROS autonomy stack for iRobot Create 2.

BSD 3-Clause "New" or "Revised" License

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Localization improvements with robot_localization #185

Closed eborghi10 closed 4 years ago

eborghi10 commented 4 years ago

The idea of this PRs is to run real robot tests using the RPLidar A2 and introduce fixes.

Testing instructions

Simulation

RVIZ=true roslaunch ca_gazebo create_empty_world.launch
roslaunch ca_tools move_square.launch args:="odom_imu"

RVIZ=true GUI=false LASER=rplidar LOCAL_PLANNER=dwa LOCALIZATION=slam roslaunch ca_gazebo create_house.launch

Real robot

Debugging IMU

roslaunch ca_bringup minimal.launch
rosrun ca_imu get_yaw_from_quat.py __ns:=create1

Full test

RVIZ=true roslaunch ca_bringup complete.launch
roslaunch ca_tools move_square.launch args:="odom_imu"

Mapping succeeded!!

Screenshot from 2020-07-05 18-14-38