ROS LEMTOMap

Installation

This was tested on Indigo.

• Create a catkin ws (or use your existing catkin ws):

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws/
catkin_make 
source devel/setup.bash  //add to .bashrc for convenience

• Add and compile the LEMTOMap Metapackage

roscd
cd ../src
wstool init
wstool set lemtomap_meta --git git://github.com/koenlek/ros_lemtomap.git
wstool update lemtomap_meta
rosdep install --from-paths . -i -y
cd ..
catkin_make

Use catkin_make -DCMAKE_BUILD_TYPE=Release for (faster) release build, catkin_make -DCMAKE_BUILD_TYPE=Debug for (slower) debuggable build. catkin_make will remember last build type you selected, so subsequent builds dont need the flag unless you want to change.

Update

roscd
cd ../src
wstool update lemtomap_meta
rosdep install --from-paths . -i -y
cd ..
catkin_make

Troubleshoot

• A GPU related issue can cause simulated runs to fail. If you experience such issues, please change gpu_ray to ray and libgazebo_ros_gpu_laser.so to libgazebo_ros_laser.so in lemto_description/urdf/lemto_turtle_gazebo.urdf.xacro

Usage

Create and navigate a topological map

roslaunch lemto_launchers topological_mapping_and_topological_navigation_sim.launch

Tip: You can experiment by setting: rolling:=false (default is true) windowsize:=20 (default is 20)

For example: roslaunch lemto_launchers topological_mapping_and_topological_navigation_sim.launch rolling:=false

Drive around manually

Use the arrow keys to increment speed, hit space to reset. If you get an error about motors not being powered up, hit 'e'.

Send a metric goal

Just use the RVIV '2D Nav Goal' tool on any unknown space (should be within the global costmap however)

Send a topological goal

You can send it to any topological node using this command. The RVIZ select tool can be used to choose a proper target_node_id.

rostopic pub /move_base_topo/goal lemto_actions/GotoNodeActionGoal "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
goal_id:
  stamp:
    secs: 0
    nsecs: 0
  id: ''
goal:
  target_node_id: 1" -1

Load and Store topological maps

save a map (execute for example from ~/catkin_ws/src/lemto_map_server/maps):

rosrun lemto_map_server save_map -f my_toponav_map

load a map:

roslaunch lemto_launchers topological_mapping_and_topological_navigation_sim.launch load_map_directory:=$(rospack find lemto_map_server)/maps/my_toponav_map

OR e.g. ($(pwd) expands to current directory, e.g. ./my_toponav_map):

roslaunch lemto_launchers topological_mapping_and_topological_navigation_sim.launch load_map_directory:="$(pwd)/my_toponav_map"