Navigation With TOF Tutorial On AMR

Interface connection

• This section provides a complete tutorial guide for performing navigation using ToF on AMR. Here, the examples and test cases are given with respect to EIC developed AMR.

Pipeline to create map and estimate odometry using ToF, RTAB-Map and wheel odometry

Step by Step Instructions

• Prerequisites:

  • AMR is running with wheel odometry (/odom topic should be present)
  • ToF is running (Refer section)
  • Ros1_bridge is running inside docker

• Start a new ROS2 humble docker container terminal.

         docker exec -it ros2-humble-jammy bash
         cd ~/ros2_ws
         colcon build 
        (Optional if not done)
         source /install/setup.bash
         source ~/rtabmap_ws/install/setup.bash

Test cases and examples

• Start RTAB-Map launch code

         ros2 launch eic_bringup_utils rtabmap_wheelodom_nav2.launch.py

• After running above commands open rviz2 in a separate terminal outside docker to visualize the topics

         source /opt/ros/galactic/bash
         ros2 run rviz2 rviz2 -d ~/Robotics_AMR-devel/eic_bringup_utils/rviz/rtabmap.rviz

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Created Map using RTAB-Map and wheel odometry in humble

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Created Map using RTAB-Map and wheel odometry in galactic

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Given goal with Planned path using RTAB-Map and wheel odometry in humble

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Given goal with Planned path using RTAB-Map and wheel odometry in galactic

Note: During this experiment, we found that RTABMAP was running more stable on galactic release compared to its humble release for both RTABMAP and RTABMAP_ROS.

• Refer this video that shows usecase running in Galactic.

• Refer this video that shows usecase running in Humble.

Instructions/Conventions/Errors

• If anyone working with the ROS2 Galactic system is necessary, follow the instructions in Galactic Docker and redo all the above procedures in an equivalent way using the ROS2 Galactic Docker.
• In our experiment it was found that RTAB-Map performance was varied in Humble and Galactic. Kindly contact us for more information.