interiit21_drdo

First follow the instructions in Installation.md file.

Install the following:

sudo apt-get install python-wstool python-rosinstall-generator python-catkin-tools

Then, initialize the catkin workspace and clone this repo in catkin workspace

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

# Clone this repo
cd ~/catkin_ws/src
git clone https://github.com/vstark21/interiit21_drdo.git

# Build workspace
cd ~/catkin_ws
catkin build

And make all the files in scripts directory executable (replace filename with different filenames)

cd ~/catkin_ws/src/interiit21_drdo/scripts
sudo chmod +x filename.py 

Now remove gimbal_small_2d/ directory

cd ~/.gazebo/models
rm -r gimbal_small_2d

To run different worlds,

roscd interiit21_drdo
./world1.sh # or ./world2.sh or ./world3.sh

Topics

Octomap output

/rtabmap/octomap_full		## contains octomap with color
/rtabmap/octomap_binary		## contains octomap with only binary value

Odometry

/mavros/local_position/odom	## Accurate but is slow at 5 Hz
/rtabmap/odom			## Faster method to achive odometry

Controlling with setpoint

/setpoint_array         ## pass a array of Poses with time stamp

This topic will be active after launching nav.py and custom message is used

$ rosmsg info interiit21_drdo/Setpoints
std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
geometry_msgs/Pose[] setpoints
  geometry_msgs/Point position
    float64 x
    float64 y
    float64 z
  geometry_msgs/Quaternion orientation
    float64 x
    float64 y
    float64 z
    float64 w