From fab080ef75fbc7424a163a46967acd38d0f641be Mon Sep 17 00:00:00 2001 From: isro01 Date: Sun, 26 Jul 2020 00:06:01 +0530 Subject: [PATCH 1/2] updated work in readme --- README.md | 62 ++++++++++++++++++++++++++++++++++++++++++++++ img/towr_code.png | Bin 0 -> 106804 bytes 2 files changed, 62 insertions(+) create mode 100644 img/towr_code.png diff --git a/README.md b/README.md index fbf84e6..98388d5 100644 --- a/README.md +++ b/README.md @@ -30,3 +30,65 @@ Create a new pull request from the `Pull Requests` tab on this repo, not the for Request reviews from at least two people. +--- + +## Overview + +For localisation we decided to implement SLAM ( Simultaneous Localisation and Mapping ). For this we started off with looking into [OpenVSLAM](https://openvslam.readthedocs.io/en/master/ros_package.html). + +Some courses for conceptual understanding we found helpful: + +1. [Mobile-robotics](http://ais.informatik.uni-freiburg.de/teaching/ss19/robotics/) +2. [Visual Navigation](https://vision.in.tum.de/teaching/ss2013/visnav2013) + +### Dependencies: + +1. [Eigen](http://eigen.tuxfamily.org/) +2. [g2o](https://github.com/RainerKuemmerle/g2o) +3. [DBoW2](https://github.com/shinsumicco/DBoW2) +4. [OpenCV](https://opencv.org/) +5. [Pangolin](https://github.com/stevenlovegrove/Pangolin) + +### Issues: + +* Mismatch between OpenCV versions : + +Resolved by properly setting up paths and making changes in CMakefiles to enable it to run on required version. + +* Video streaming from gazebo : + +To make it work with live video feed from gazebo we had to redirect some topics and attach a camera plugin on our model which was kept in the simulation environment with obstalces and walls around it. + +Testing OpenVSLAM with a drone moving through a virtual alley: +[Click here for video](https://drive.google.com/file/d/1Y_Hu-au4z2JEkjzrlUlrZw7EljRF2b_A/view) + + +To test this on a quadruped we tried to stimulate the model we had using [towr](http://docs.ros.org/lunar/api/towr/html/index.html) and [towr_ros](https://github.com/ethz-adrl/towr) + +We had to modify the code to make our own node to publish the final pose for the quadruped to reach. + +![Image](img/towr_code,png) + +[Demo video can be found here](https://drive.google.com/open?id=1MN2vm95H1Dhfs8n3qlgd3xLlkyX3Nfzf +) + +* Improper friction values for joints: + +We didnt have proper friction values for the robot joints and hence the random motion in the demo video. + +Moved on to a [repository](https://github.com/chvmp/champ) to implement the model with SLAM. + +--- + +## Benchmarking + +Had to benchmark against [OpenVSLAM](https://openvslam.readthedocs.io/en/master/installation.html) and [GMapping](http://wiki.ros.org/gmapping) the following factors: + +1. Feature detection +2. Detection rate +3. CPU usage and GPU information +4. Odometry drift + +The work done for the same can be found [here](https://github.com/m2kulkarni/PETcat_Benchmark) + +--- \ No newline at end of file diff --git a/img/towr_code.png b/img/towr_code.png new file mode 100644 index 0000000000000000000000000000000000000000..828ee92a6af24f48da225d6edff81014eb25feec GIT binary patch literal 106804 zcmbqa5m@6~*` zRWseyw|eUKneKBYN<~Q;6`2qj005xM%1EjK08rfk05kv*`s0qbjR*F`Qb_zu&Kx=v3|!A|wdQzhDJ^g*Kka#gV5V2d9j zg%jZ5a5^3Y8KT3;zAyww-zs5Z+L2RH{rF*_&XaxCG5fsc34VO73&O^C5Dz`!@fs zeuIAO?ZKw=R~RU8l~LBi{)idmWoP~zq&IbRXzUpd+#m2tIpu1*o5p+YcAF@1ug$5k zdNQtR+~DngzTMP)zZkz%uWS|;QOOMKpBW)s7U|xoo7!|c>3lk`sfL`+VL8cY(n&p| zoo}(Wy**(`RB8(n+lY+Sb~j(&i3<{@l8j82U#!=h4dIwvuh?e$W$s8(=z0 zviCD&nw?E;PW)w5p0ThB+@pMV1%N>?@Ktn6ef7@0H9Yqj8s+x4a(B#$NH@cc70X6( zOB=S)1y`a}+rq(dB@t?b56~x6gw5 zb^sA4CKLd)NEql)fGwAzBQid^m%invl=0l@>gQ_-{p+{7k&$s6>Hw|Z?Y=+v(lG!g zg9^PBiItl4dyMVV2qs+1d_yH+kplPt7irW=g>qd6JUR}=b{>1QG}Ka(HbJ-U&0ge# 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k|4thJmjwUYMRgAZ-?4a~C~H>BVR8es)b-S$Dt3|o0~1Awpa1{> literal 0 HcmV?d00001 From 95e694f80e99f56fceec477eaac45da52abeecd1 Mon Sep 17 00:00:00 2001 From: Ishir Roongta Date: Sun, 26 Jul 2020 00:07:09 +0530 Subject: [PATCH 2/2] Update README.md --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 98388d5..4b8eeb8 100644 --- a/README.md +++ b/README.md @@ -67,7 +67,7 @@ To test this on a quadruped we tried to stimulate the model we had using [towr]( We had to modify the code to make our own node to publish the final pose for the quadruped to reach. -![Image](img/towr_code,png) +![Image](https://github.com/isro01/PETcat_localization/blob/document/img/towr_code.png) [Demo video can be found here](https://drive.google.com/open?id=1MN2vm95H1Dhfs8n3qlgd3xLlkyX3Nfzf ) @@ -91,4 +91,4 @@ Had to benchmark against [OpenVSLAM](https://openvslam.readthedocs.io/en/master/ The work done for the same can be found [here](https://github.com/m2kulkarni/PETcat_Benchmark) ---- \ No newline at end of file +---