Theory on integration of SLAM Toolbox | Localization ROS2 Tutorials | [Tutorial 10]
Wish to create interesting robot motion and have control over your world and robots in Webots? Soft_illusion Channel is here with a new tutorial series on the integration of Webots and ROS2. (A channel which aims to help the robotics community).
#ROS2_tutorial #ROS2_project #SLAM_toolbox
Video series:
1. ROS 2, Webots installation and Setup of a workspace in VS Code
2. Different examples in Webots with ROS2
3. Use ROS2 services to interact with robots in Webots
4. Control a robot with ROS2 Publisher
5. Get feedback from different sensors of Robot with ROS2 Subscriber
6. Implement Master and Slave robots project with ROS2
7. Setup Rviz2 (Showing different sensor output )
8. Ways to debug projects with Rostopic echo, Rostopic info, RQT_graph
9. Use advance debugging tools like Rqt console, Rqt gui
10 & 11. Implementation of SLAM toolbox or LaMa library for unknown environment.
12. & 13. Implementation of AR-tag detection and getting exact pose from camera.
Note:Following are the system specifications that will be used in the tutorial series.
Ubuntu 20.04, ROS 2 Foxy, Webots R2020b-rev1
03:33 What is SLAM ?
04:46 Applications of SLAM ?
06:01 SLAM toolbox and its Installation.
10:49 Overview of Project.
12:26 Adding a LIDAR node .
17:22 Next video ...
18:09 Question
This 10th video is an introductory video. It is necessary to watch this before implementing the SLAM project fully described in video 11 of this tutorial series.
1. Introduction and implementation :
This section gives an introduction along with the overview of the advanced topics in videos 10th and 11th, based on the implementation of the SLAM toolbox in an unknown environment. We also showcase a glimpse of the final map being generated in RVIZ which matches that of the Webots world. This gives a good understanding of what to expect in the project in terms of several concepts such as odometry, localization and mapping and builds an interest in the viewers.
2. What is SLAM ?
An understanding of what and why is necessary before getting into the how..! Hence here we give a theoretical explanation to what is SLAM and discuss its types like Visual SLAM, 2D SLAM or 3D SLAM based on the kind of sensors used.
3. Applications of SLAM ?
This section answers the Why of the project as we throw some light on the various applications of SLAM in different fields like warehouse robotics, Augmented Reality, Self-driven Car etc. Different kinds of SLAM in different scenarios is also discussed.
4. SLAM toolbox and its Installation.
https://github.com/SteveMacenski/slam...
As explained in the video, we use the readme of the above link to study about a great package named SLAM toolbox. This readme includes different services and plugins for Rviz2 for working with this package.
We learn that there is a complete list of parameters which needs to be considered while choosing this package for a particular application like lidar specifications, area size etc.
Command to install SLAM toolbox :
apt install ros-foxy-slam-toolbox
5. Overview of Project.
This is an important section which walks the viewer through the project algorithm using a flow chart. We start with enabling a lidar followed by the “line following robot” pipeline to follow a particular path. This project can also be implemented by using keyboard or joystick commands to navigate the robot. Once the robots starts to move, it’s scan and odometry is taken by the slam node and a map is published which can be seen in rviz2. The algorithm also shifts odom with respect to map in order of match the scan with the map. Hence we get a consistent map.
6. Adding a LIDAR node .
In this section we will finally learn how to add a lidar in our custom robot so that it is able to publish the scan. We also discuss different parameters of Lidar in webots like height of scan, orientation of scan , angle of view and number of layers resolution of scan. etc
7. Next video
We close the video by giving a peak at the topics that’s going to be covered in the next video about different coding files and how to setup ROS2 framework in order to facilitate use of the SLAM toolbox and use it to get a great 2D map.
Playlist of the Webots ROS2 tutorial series is available here: • Webots ROS2 tutorial series : Setting Up R...
Introductory Webots tutorial playlist:
https://www.youtube.com/watch?v=yi4e5...
These videos begin with the basic installation of the simulator, and ranges to higher-level applications like object detection, obstacle avoidance, actuator motion etc.
Facebook link to the Intro Video Artist, Arvind Kumar Bhartia:
/ arvindkumar.bhartia.9
Comment if you have any doubts on the above video.
Do Share so that I can continue to make many more videos with the same boost. :)
Happy Coding. :)