exa robot
Require :
- ubuntu 16.04 Xenial Xerus
- ROS Kinetic (full desktop config) and its dependency
- OpenCV 3.4 and its dependency
- PCL (1.7.2) and its dependency
- RTABMap SLAM (last) and its dependency
Install its command :
- $ cd exa_robot/src/command
- $ sudo chmod a+x link_command exarobot exascript
- $ ./link_command
This is project for nuclear localization and mapping using mobile robot in unknown hazard environment. this is using stereo camera/depth camera to capturing envrontment in 3D and convert to point cloud.
usage
- open terminal
- $ roscore
- $ exarobot launch freenect # to activate streo camera
- $ exarobot launch mapping # to mapping
- $ exarobot launch control # to acctivate embedded system to stream nuclear detector data
Exa_Robot
![](https://github.com/hamdiibnizhar/exa_robot/blob/master/master_machine/src/results/exa_robot_backview.jpg)
Result
Localization and mapping nuclear spots in unknown room
![](https://github.com/hamdiibnizhar/exa_robot/blob/master/master_machine/src/results/nuclear_sources_spots_localization_and_mapping.png)
Background Radiation
![](https://github.com/hamdiibnizhar/exa_robot/blob/master/master_machine/src/results/nuclear_background_spots_localization_and_mapping.png)