Quadrotor 3D Mapping and Navigation (ROS MoveIt! & Gazebo)

8 років тому

Quadrotor 3D Mapping and Navigation (ROS & Gazebo)
8 May 2016
www.wilselby.com/research/ros-integration/
Wil Selby
This project focused on simulating a Kinect sensor and a quadrotor to develop a 3D map of the environment and subsequently using the map for localization, path planning, and obstacle avoidance. This video tutorial briefly covers the following topics:
- General overview of the ROS MoveIt! framework for motion planning
- Demonstration of developing a 3D occupancy map based on octrees using a simulated Kinect sensor mounted on the simulated quadrotor
- Using the MoveIt! RVIZ plugin to set a desired goal pose, plan a trajectory, and send the desired trajectory to the quadrotor for execution.

КОМЕНТАРІ: 43

@TheFavorite409 7 років тому

Excellent video. Gives a glimpse of how to 3D map a room with a quadrotor

@hangyu5306 7 років тому

Nice job！！！

@malharjajoo7393 6 років тому

Hi, I am really impressed by the video. I am currently using 3 external stereo cameras for obtaining depth and point cloud map of a room. I am also using a Parrot A.R. Drone and wish to do obstacle detection and avoidance and move the drone around. My question: Can this setup you used, work for me as well ? The main difference here is that the point cloud and 3D map are provided by the external cameras in my case.

@wilselby 6 років тому

I think it should work if you can get RGB-D information and pointcloud information from your sensors.

@130music 6 років тому

Thank you for your video. I have one question: Is the room map build by the Kinect just an object map(other than collision map)? If so, how can you transfer the object map into collision map (which robot will see it as a collision when navigation) ?

@wilselby 6 років тому

The octomap that is created is a collision map. Toward the end of the video, you can see that MoveIt! creates a trajectory around some of the obstacles identified in the ocotmap.

@130music 6 років тому

Thank you so much for your reply. I have created a 3D map by point cloud2. However the PR2 arm dosen't consider it as collision object . Do you know the reason?

@wilselby 6 років тому

That I'm not sure of unfortunately, sorry.

@130music 6 років тому

Thank you for your reply. I fix it by reference this link docs.ros.org/indigo/api/pr2_moveit_tutorials/html/planning/src/doc/perception_configuration.html

@anuragpbox 7 років тому

Great work there. I was trying to use moveit for quadrotor navigation myself. But I did not find good moveit tutorials for dummies, hence I am stuck. Could you lend me some help?

@wilselby 7 років тому

Anurang, Check out my tutorial here: www.wilselby.com/research/ros-integration/3d-mapping-navigation/ It should enable you to recreate the video above and provide detail on the code so you can apply it to your own project. Good luck!

@raghavgoel581 6 років тому

Hi Wanted to know if there is anything for 2-D mapping ? Thanks for help.

@wilselby 6 років тому

Check out my 2D mapping and navigation video here: ukposts.info/have/v-deo/p6KKgoltpaqbz40.html It has links to a tutorial on my website with sample code.

@raghavgoel581 6 років тому

Thanks for help! Another question: Can I use a bumper sensor to bump with everything in a room and then store the coordinates of all those points. Then I know which all point have an obstacle. So can something like this be used to map a room. Thanks again!

@wilselby 6 років тому

Raghav, I don't have any experience doing this but here is the link to a bumper sensor: wiki.ros.org/evarobot_bumper and you can use this package to convert the bumper data to a pointcloud which can then be an input into a costmap for gmapping: wiki.ros.org/kobuki_bumper2pc -Wil

@raghavgoel581 6 років тому

Thanks a lot! sorry for late reply.

@raghavgoel581 6 років тому

Hi, sorry for bothering again but do you know of any Path Planning Algorithm I can use for traversing a room in best possible way with a known boundary. Thanks a lot for help.

@abdulbakiaybakan8836 6 років тому

I do something similar by georeferencing but there are some slipping I guess it is because of the delay between the time odometry and point cloud are obtained. How can your map be that precise?

@wilselby 6 років тому

This is in simulation, so there are no errors in any of the measurements.

@abdulbakiaybakan8836 6 років тому

I also get ground truth odometry from gazebo but I can not synchronize point cloud and odometry messages

@abdulbakiaybakan8836 6 років тому

I tried Time Synchronizer of message_filters but I get an error which may be related to boost libraries.

@wilselby 6 років тому

Here's a more detailed tutorial which might help: www.wilselby.com/research/ros-integration/3d-mapping-navigation/

@rahulpuram9732 3 роки тому

Can we do 3D navigation for a 4 wheeled robot?. We are actual working on that but unable to find any package for it

@wilselby 3 роки тому

I think you could use the navigation stack packages for a ground robot.

@Rch25 5 років тому

Hello. I am trying use lidar YDLIDAR G4 to do 3D reconstruction of a room. Could you please assist me how to contruct the code? Really appreciate your help.

@wilselby 5 років тому

A detailed tutorial is available here: www.wilselby.com/research/ros-integration/3d-mapping-navigation

@Rch25 5 років тому

Wil Selby thank you so much for your help. Can we do this based on Arduino?

@lagankapoor007 6 років тому

Hi Sir, i am working on Robotic arm with Moveit i done all work for path planing but i don't know how to create Octamap, may you help me . i even check octamap website but can't get it , so please show me the right way where i can learn or how i can learn .

@wilselby 5 років тому

Check out my detailed tutorial here: www.wilselby.com/research/ros-integration/3d-mapping-navigation The Occupancy Map Updater is the primary component of MoveIt! that deals with 3D perception. You can use the PointCloud Occupancy Map Updater plugin.

@nikolaiphilipenko9210 Рік тому

Hi can we utilize moveit with a 8 motor holonomic submarine ? Is there any packages for this?

@nirajpudasaini4450 Місяць тому

Following, any updates ?

@nikolaiphilipenko9210 Місяць тому

@@nirajpudasaini4450 ended up using nav2 with a pid to control z axis. Version 2 of my system is from scratch tho: first spline interpolation to create poses then following said poses with velocity commands

@nirajpudasaini4450 Місяць тому

@@nikolaiphilipenko9210 thanks for such a prompt response. I am trying to work around with moveit and ros melodic for the past 3 months for my bachelors thesis. I am still not able to succesfully execute the path planning. I would appreciate if you can share any resources that you have made public. I will try to switch to nav2 if it works. Fyi: i am using bluerov2 as a robot, and have successfully assembled and tested its built in functionality.

@brcdvl1027 Рік тому

The link provided is not working? Any alternate links? Please help

@wilselby Рік тому

www.wilselby.com/research/ros-integration/ works for me currently

@brcdvl1027 Рік тому

@@wilselby The url shows the following error: Warning: mysqli_set_charset(): Error executing query in /app/public.built/wp-includes/wp-db.php on line 756 Warning: Cannot modify header information - headers already sent by (output started at /app/public.built/wp-includes/wp-db.php:756) in /app/public.built/wp-includes/pluggable.php on line 1223

@riteshpatel1460 7 років тому

hi if I want to test algorithm for path and attitude planning than how can I test it ??

@wilselby 7 років тому

Ritesh, If you want to use one of the provided algorithms in MoveIt!, follow this tutorial: www.wilselby.com/research/ros-integration/3d-mapping-navigation/ If you want to use a custom algorithm, look at the MoveIt! API: moveit.ros.org/code-api -Wil

@riteshpatel1460 7 років тому

ok so for that I need to run sitl inside the simulator

@mohamedelshami3823 6 років тому

excuse me if you are an academic person is there a way for contact? I am from Egypt and want to complete my post graduate study at this field .thank you for your attention

@wilselby 6 років тому

Mohamed, You can find an email for me at www.wilselby.com