laser_based_localization

This project introduces a localization algorithm mainly based on Lidars (Light detection and ranging) to solve the localization problem of a multi robots system.

1. Package overview

• launch: two test demo (mir test and gazebo test) and two launch file for scan_fusion and laser_localization.
• map: two map data (.txt) for mir test and gazebo test
• msg: self defined message type
• src: algorithm scripts
• bagfile: two ros bag file for mir test and gazebo test

2. Installation

Preliminaries

The instructions below use the ROS distro melodic as an example. If you haven't already installed ROS on your PC, you need to add the ROS apt repository. For ROS installation http://wiki.ros.org/melodic/Installation/Ubuntu

Install

cd catkin_workspace/src

git clone

cd ..

catkin_make

Install all dependencies

The version of python for program is V 2.7 , some libraries are required for program

sudo apt update

sudo apt install python-pip

pip install --upgrade pip

python -m pip install --user numpy scipy matplotlib ipython jupyter pandas sympy nose

pip install -U scikit-learn

3. Start Node

laser_fusion

roslaunch laser_based_localization laser_fusion.launch

This Node subscribes two laser topics of the master robot , and publish the fused laser as topic /robots_scan_fusion.

The topic name and link of two laser topics can be defeined in launch file.

laser_localization

roslaunch laser_based_localization laser_localization.launch

This Node subscribe /robots_scan_fusion and cal

4. Start demo (existing bagfile)

DON'T FORGET change the data path in launch file , otherwise it can't find the file

1. Gazebo test demo

roslaunch laser_based_localization gazebo_test_demo.launch

2. Mir test demo

roslaunch laser_based_localization mir_test_demo.launch