Autonomous Mapping in Unknown Environment | Robot Gmapping | Webots ROS Simulator | [Tutorial 3]
Want to visualize how a robot registers, understands and maps the environmental data..? Soft_illusion Channel is back with a new video to teach you that..!! (A channel which aims to help the robotics community). To understand this video better do watch the previous videos on the basics of ROS and it's integration with webots. Also, doing some read up on SLAM (Simultaneous Localization and Mapping) and it's importance in robotics will be helpful. #SLAM_tutorial #webots #Mapping_unknown_environment #localization #mapping This video teaches you a lot in 15 mins. A basic understanding of ROS is required to understand the steps and commands. A robot with a laser scanner is used to get a contour of points around the robot. In this video, we have used the pioneer3at robot which has an inbuild camera lidar and GPS. We take this data and give it to the gmapping node, post which the gmapping node processes and saves the data of scanned points with a transformation to a map topic. This data can be visualized in an application named Rviz which can later be saved as a .png using map saver service. This can also be considered as a partial implementation of SLAM (Simultaneous Localization and Mapping) in robots. The following are the commands to accomplish the above mapping. Steps: 1. Clone slam_gmapping : git clone https://github.com/ros-perception/slam_gmapping 2. Install for catkin_make : sudo apt-get install ros-kinetic-openslam-gmapping 3. Launch Environment : roslaunch webots_ros pioneer3at.launch 4. Rosrun to enable sensors : rosrun webots_ros pioneer3at 5. Run gmapping without odometry because in this case we are not getting one : rosrun gmapping slam_gmapping scan:=/pioneer3at/Sick_LMS_291/laser_scan/layer0 6. Set configuration : rviz 7. Clone navigation : git clone https://github.com/ros-planning/navigation 8. Catkin_make : sudo apt-get install ros-kinetic-tf2-sensor-msgs 9. Rosrun to save the map : rosrun map_server map_saver -f map As an initial step before diving into Webots, it is important to understand it’s the importance and what sets it apart from other simulators like Gazebo and NVIDIA Isaac. User friendly, easy to learn & implement on custom robots and applications are not the only pros. For those who understand the intricacy involved, this software is easy to integrate with ROS, multi-threading is possible and an amazing tool for multi-agent navigation. Wait, that’s not all..!! Good news for Reinforcement learning fans..!!! OpenAI Gym blends well with Webots. If the above information triggers any thought, please feel free to comment to initiate discussions not only on Gazebo or NVIDIA Isaac but also robotics in general. Robotics is not difficult..! It is inspiring and challenging..!! We are in the current era of the Robotics Revolution, where Disco will be the name of a pet robot, not dog. This channel is driven with a motive to provide good robotics tools to aid everyone gains a good and simple understanding of this so-called complex robotics domain. Hopefully, this will build the bridge to turn the novel ideas of viewers into reality. Below are links to help you get started with any webots project. Download Webots: https://cyberbotics.com/ Webots tutorial playlist: https://www.youtube.com/watch?v=yi4e5... The tutorials begin with the basic installation of the simulator, and ranges to higher-level applications like object detection (using camera) and actuator (linear/rotor) control. Facebook link to the Intro Video Artist, Arvind Kumar Bhartia: https://www.facebook.com/arvindkumar.bhartia.9/ Comment if you have any doubts on the above video. Also do make suggestions if you need a tutorial on any other project topics. Do Share so that I can continue to make many more videos with the same boost. :) Happy Coding. :)
Want to visualize how a robot registers, understands and maps the environmental data..? Soft_illusion Channel is back with a new video to teach you that..!! (A channel which aims to help the robotics community). To understand this video better do watch the previous videos on the basics of ROS and it's integration with webots. Also, doing some read up on SLAM (Simultaneous Localization and Mapping) and it's importance in robotics will be helpful. #SLAM_tutorial #webots #Mapping_unknown_environment #localization #mapping This video teaches you a lot in 15 mins. A basic understanding of ROS is required to understand the steps and commands. A robot with a laser scanner is used to get a contour of points around the robot. In this video, we have used the pioneer3at robot which has an inbuild camera lidar and GPS. We take this data and give it to the gmapping node, post which the gmapping node processes and saves the data of scanned points with a transformation to a map topic. This data can be visualized in an application named Rviz which can later be saved as a .png using map saver service. This can also be considered as a partial implementation of SLAM (Simultaneous Localization and Mapping) in robots. The following are the commands to accomplish the above mapping. Steps: 1. Clone slam_gmapping : git clone https://github.com/ros-perception/slam_gmapping 2. Install for catkin_make : sudo apt-get install ros-kinetic-openslam-gmapping 3. Launch Environment : roslaunch webots_ros pioneer3at.launch 4. Rosrun to enable sensors : rosrun webots_ros pioneer3at 5. Run gmapping without odometry because in this case we are not getting one : rosrun gmapping slam_gmapping scan:=/pioneer3at/Sick_LMS_291/laser_scan/layer0 6. Set configuration : rviz 7. Clone navigation : git clone https://github.com/ros-planning/navigation 8. Catkin_make : sudo apt-get install ros-kinetic-tf2-sensor-msgs 9. Rosrun to save the map : rosrun map_server map_saver -f map As an initial step before diving into Webots, it is important to understand it’s the importance and what sets it apart from other simulators like Gazebo and NVIDIA Isaac. User friendly, easy to learn & implement on custom robots and applications are not the only pros. For those who understand the intricacy involved, this software is easy to integrate with ROS, multi-threading is possible and an amazing tool for multi-agent navigation. Wait, that’s not all..!! Good news for Reinforcement learning fans..!!! OpenAI Gym blends well with Webots. If the above information triggers any thought, please feel free to comment to initiate discussions not only on Gazebo or NVIDIA Isaac but also robotics in general. Robotics is not difficult..! It is inspiring and challenging..!! We are in the current era of the Robotics Revolution, where Disco will be the name of a pet robot, not dog. This channel is driven with a motive to provide good robotics tools to aid everyone gains a good and simple understanding of this so-called complex robotics domain. Hopefully, this will build the bridge to turn the novel ideas of viewers into reality. Below are links to help you get started with any webots project. Download Webots: https://cyberbotics.com/ Webots tutorial playlist: https://www.youtube.com/watch?v=yi4e5... The tutorials begin with the basic installation of the simulator, and ranges to higher-level applications like object detection (using camera) and actuator (linear/rotor) control. Facebook link to the Intro Video Artist, Arvind Kumar Bhartia: https://www.facebook.com/arvindkumar.bhartia.9/ Comment if you have any doubts on the above video. Also do make suggestions if you need a tutorial on any other project topics. Do Share so that I can continue to make many more videos with the same boost. :) Happy Coding. :)