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Robaka 2

AR tag follower BBQ cart

Other builds

<img src="https://user-images.githubusercontent.com/4759630/119562465-a6777700-bda6-11eb-9cea-d42b2a17e24e.png" width=250/> <img src="https://user-images.githubusercontent.com/4759630/119562485-abd4c180-bda6-11eb-9c6d-9c8701da27c5.png" width=250/>

by Andrei Zugravu

<img src="https://user-images.githubusercontent.com/4759630/119561671-c490a780-bda5-11eb-85b5-7359e5abc6aa.png" width=250/>

by Luis Augusto Silva and ESALab Team

<img src="https://user-images.githubusercontent.com/4759630/119561313-4d5b1380-bda5-11eb-97ca-c91a708aff0d.png" width=250/>

by Martin Nievas

<img src="https://user-images.githubusercontent.com/4759630/122375853-e378f880-cf63-11eb-887f-f3e6479e0a40.png" width=250/> <img src="https://user-images.githubusercontent.com/4759630/122375928-f7245f00-cf63-11eb-90d8-6dabb568a15a.png" width=250/>

by Liangkai Zhang

Summary

This is the ROS package for Robaka, my ROS and SLAM mobile testbed. Robaka uses ros_control with hardware driver from this repo, which relies on hoverboard custom firmware by Bipropellant.

If you're looking for the Arduino-based Robaka 1, the code is on robaka-1 branch.

How to

To start:

$ sudo apt-get install ros-melodic-desktop-full
$ rosdep install robaka
$ catkin_make
$ roslaunch headlessrobaka robaka.launch

On desktop:

$ roslaunch uirobaka.launch
OR
$ roslaunch robaka robaka_cartographer_localization.launch load_state_filename:=<FULLPATH>/laserdata25.bag.pbstream

Refer to https://google-cartographer-ros.readthedocs.io/en/latest/ for SLAM details.

Run live SLAM:

$ roslaunch robaka slammingrobaka.launch

Record bag:

$ rosbag record -a -O ./mylaserdata10.bag

Validate bag:

$ cartographer_rosbag_validate -bag_filename=mylaserdata10.bag

Offline SLAM:

$ roslaunch robaka offline_slam.launch bag_filenames:=/home/des/catkin_ws/mylaserdata10.bag

Save map:

$ rosrun map_server map_saver -f map1

Save online SLAM state for cartographer .pbstream:

$ rosservice call /finish_trajectory 0
$ rosservice call /write_state "{filename: '/home/alex/mylaserbag23.bag.pbstream'}"

NOTE: patch cartographer as described here https://github.com/googlecartographer/cartographer/issues/1498#issuecomment-464308882 to fix global costmap issue

SLAM