Husky Project Mapping

This ROS package facilitates mapping, localization, and navigation for a Husky mobile robot within the cpr_orchard_gazebo simulation environment. It leverages RTK-GPS fusion for enhanced localization accuracy and generates 3D Octomaps using rtabmap_ros.

Features

• Simulation Environment: Uses the CPR Orchard Gazebo world for realistic agricultural robotics simulation.
• Sensor Configuration:
  • Fuses Wheel Odometry and IMU.
  • Integrates RTK-GPS for global localization.
  • Velodyne VLP-16 3D LiDAR for 3D mapping.
  • SICK LMS1xx 2D LiDAR for obstacle avoidance.
• Mapping: Uses rtabmap_ros to generate 3D Octomaps.
• Navigation: move_base integration for autonomous navigation on generated maps.
• Analysis: Includes tools for analyzing odometry drift and logging navigation metrics (via kon414_metrics).

Prerequisites

• OS: Ubuntu 20.04 (Focal Fossa)
• ROS: Noetic Ninjemys
• Gazebo: Gazebo 11

Required Packages

Ensure the following common Husky and simulator packages are installed:

• husky_gazebo
• husky_navigation
• cpr_orchard_gazebo (Simulation World)
• robot_localization
• rtabmap_ros
• octomap_server

Installation

1. Clone the repository into your catkin workspace src folder:

   cd ~/ros_ws/src
   git clone <repository_url> husky_project_mapping

2. Install dependencies: There is a helper script provided to install additional dependencies like twist mux and teleop joys.

   cd ~/ros_ws/src/husky_project_mapping
   chmod +x install_dependencies.sh
   ./install_dependencies.sh

   It is also recommended to run rosdep:

   cd ~/ros_ws
   rosdep install --from-paths src --ignore-src -r -y

3. Build the workspace:

   cd ~/ros_ws
   catkin_make
   source devel/setup.bash

Usage

1. Mapping Mode

To start the simulation, localization, and mapping processes:

roslaunch husky_project_mapping main.launch

What this does:

• Launches cpr_orchard_gazebo.
• Spawns the Husky robot with VLP-16 and RTK-GPS enabled.
• Starts robot_localization (EKF) to fuse odometry, IMU, and GPS.
• Starts rtabmap_ros for mapping.
• Opens RViz with a pre-configured view.

2. Navigation Test

To test autonomous navigation on a pre-recorded Octomap:

roslaunch husky_project_mapping nav_test.launch map_file:=/path/to/your/map.bt

Arguments:

• map_file: Absolute path to the .bt Octomap file to load (default: ~/ros_ws/maps/octomap_0_1.bt).

3. View Map

To visualize a saved Octomap in RViz without running the full simulation:

roslaunch husky_project_mapping view_map.launch map_file:=/path/to/your/map.bt

Structure

• launch/: Contains main launch files (main.launch, nav_test.launch).
  • include/: Modular launch files for localization and mapping.
• config/: YAML configuration files for robot_localization and RViz.
• scripts/: Python scripts for analysis and testing.

Contact

Maintainer: furkanh