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StratomCurtain

Proof-of-concept implementation of a lidar-based object detection and tracking system for Stratom Robotics. Created during Mines CS Field Session.

Contributors

  • Brady Veltien
  • Ethan Ko
  • Lucas Niewohner
  • Ryan Lopez

Packages

PyTracker

A node that tracks polygons using the Hungarian algorithm and detects movement in the polygons with centroid tracking.

costmap_converter

A ros package that includes plugins and nodes to convert occupied costmap2d cells to primitive types. It was modified to work on ros2 humble from https://github.com/rst-tu-dortmund/costmap_converter.

OdomTf2Adapter

Converts odometry information to a Tf message.

Build

This was build for a docker container running on a Windows computer.

  1. Download and install Docker: https://docs.docker.com/desktop/install/windows-install/
  2. Open powershell and update WSL: wsl --update
  3. Open powershell to the directory you want to install the git repository
  4. Run the command <git clone --recurse-submodules https://github.com/Hermanoid/StratomCurtain.git >
  5. Go into the directory
  6. Run and sign into Docker Desktop
  7. Build the image with the command: docker build -t <image_name> .
  8. Create a container from the image with the command: docker run -it --net host --ipc host --gpus=all --privileged -v C:\<path>\<to>\<repository>:/home/mines/mines_ws --name <container_name> <image_name>
  9. Run: colcon build
  10. Run: source /opt/ros/humble/setup.bash
  11. Run: source install/setup.bash
  12. Download and install XLaunch: https://sourceforge.net/projects/vcxsrv/
  13. Run XLaunch with default settings

Usage

  • ros2 launch stratom_sim stratom_sim.launch.py
    Launches Gazebo simulation and all related nodes
    1. [Optional] Select a different world from the stratom_sim/worlds directory world:=World1
  • ros2 launch stratom_sim stratom_curtain.launch.py
    Launches all nodes needed to read from a lidar scan and odemetry and output warning messages

Parameters

Parameters can be found in src/stratom_sim/config/default.yaml

License:

The py_tracker, statom_sim, and odom_tf2_adapter packages are under the MIT licence The cost costmap_converter package is under a BSD licence with other 3rd party dependencies that falls under the different licences.