soma_pkg

林研究室林業用ロボット"SOMA"の ROS パッケージ

REQUIREMENTS / 外部パッケージ要求

VISUALIZATION

• jsk_rviz_plugins

$ sudo apt install ros-melodic-jsk-rviz-plugins

MOTORS

• maxon_epos_ros

$ cd catkin_ws/src
$ git clone https://github.com/iwata-lab/maxon_epos_ros.git
$ cd ~/catkin_ws
$ catkin_make

SENSORS

• GPS

  • geodesy

    $ sudo apt install ros-melodic-geodesy
    

  • nmea_msgs

    $ sudo apt install ros-melodic-nmea-msgs
    

• RGB-D camera

  • realsense2_camera

    $ sudo apt-get install ros-melodic-realsense2-camera
    

  • realsense2_description

    $ sudo apt install ros-melodic-realsense2-description
    

  • realsense

    $ cd catkin_ws/src
    $ git clone https://github.com/pal-robotics-forks/realsense.git
    $ cd ~/catkin_ws
    $ catkin_make
    

  • realsense_gazebo_plugin

    $ cd catkin_ws/src
    $ git clone https://github.com/pal-robotics/realsense_gazebo_plugin.git
    $ cd ~/catkin_ws
    $ catkin_make
    

• LIDAR

  • velodyne

    $ sudo apt-get install ros-melodic-velodyne
    

  • pointcloud_to_laserscan

    $ sudo apt-get install ros-melodic-pointcloud-to-laserscan
    

DRIVING

• ackermann_steering_controller

$ sudo apt-get install ros-melodic-ackermann-steering-controller

• steer_drive_ros

$ cd catkin_ws/src
$ git clone https://github.com/CIR-KIT/steer_drive_ros.git
$ cd ~/catkin_ws
$ catkin_make

IMAGE PROCESSING

• pcl_ros

$ sudo apt-get install ros-melodic-pcl-ros

• ndt_omp

$ cd catkin_ws/src
$ git clone https://github.com/koide3/ndt_omp.git
$ cd ~/catkin_ws
$ catkin_make

• fast_gic

$ cd catkin_ws/src
$ git clone https://github.com/SMRT-AIST/fast_gicp.git
$ cd ~/catkin_ws
$ catkin_make

LOCALIZATION & SLAM

• move_base

  • costmap_2d

  $ sudo apt install ros-melodic-costmap-2d
  

  • navfn

  $ sudo apt install ros-melodic-navfn
  

  • dwa_local_planner

  $ sudo apt install ros-melodic-dwa-local-planner
  

• libg2o :

$ sudo apt-get install ros-melodic-libg2o

• rtabmap_ros

$ sudo apt install ros-melodic-rtabmap-ros

• hdl_graph_slam

$ cd catkin_ws/src
$ git clone https://github.com/koide3/hdl_graph_slam.git
$ cd ~/catkin_ws
$ catkin_make

• hdl_global_localization

$ cd catkin_ws/src
$ git clone https://github.com/koide3/hdl_global_localization.git
$ cd ~/catkin_ws
$ catkin_make

Structure / パッケージ構成

• soma_atv_driver : Motor control

• soma_base : Navigation with move_base

• soma_bring_up : Sensors control / センサ関係の launch,node を持つパッケージ

• soma_description : Robot model, visualization in Rviz, simulation in Gazebo, driving with rqt_robot_steering GUI

• soma_experiments : ?

• soma_global_planner : Why not in soma_base ? / 大域的な動作計画のためのパッケージ

• soma_localization : Localization in known map

• soma_mapping : Mapping of environment

• soma_msgs : Custom ROS messages

• soma_online_slam : Online Simultaneous Localization And Mapping (SLAM)

• soma_perception : Slope detection / 点群処理，画像処理系を持つパッケージ

• soma_samples : ? / 動作チェック用，お試し用の置き場所

• soma_tools : ?

• soma_viz : ?