Jackal Outdoor Waypoint Navigation

Dependencies

Jackal simulator
Jackal desktop 
Jackal Navigation
Velodyne

Instructions to use the repo

mkdir -p ros_ws/src
cd ros_ws/src
git clone https://github.com/jackal/jackal_desktop
git clone https://github.com/jackal/jackal_simulator.git
git clone https://github.com/jackal/jackal.git
git clone https://github.com/NithishkumarS/jackal_waypoint_navigation.git
sudo apt install ros-kinetic-velodyne
cd ..
rosdep install --from-paths src --ignore-src -r -y
catkin_make

Running the code

Using AMCL on a map without laser localization

roslaunch jackal_navigation amcl_demo.launch map_file:=/home/gamma-robot/ros_ws/src/outdoor_nav/waypoint_nav/map_files/Iribe_lobby_cropped.yaml  use_map_topic:=true

Visualize localization

roslaunch jackal_viz view_robot.launch config:=localization

Waypoint node

rosparam set /longitude_goal -76.935847
rosparam set /latitude_goal 38.989960
rosrun waypoint_nav gps_waypoint

Running old bag files

rosbag play <name> --clock
rosparam set use_sim_time true

Increased inflatio radius in costmap_common_params.yaml to .5

Waypoints

parking behind AV Williams: 
38.990683, -76.935968

AV williams
38.990599, -76.936570

Near wind tunnel
38.990180, -76.936594

Nearest:
38.989999, -76.935867

Things to chgange in the jackal pakcgae:

costmap params:
inflation radius - 0.5 
scan_topic : scan

move_base.launch
remap /odom to /odometry/gps/filtered

SSH into the jackal robot

cd /etc/ros/kinetic/ros.d
nano base.launch

Added velodyne pcl launch in the base.launch

<include file=" $(find velodyne_pointcloud)/launch/VLP16_points.launch" />

Inorder to get the vlp-16 working with the exisiting jackal setup

change the network ip in the VLP-16 configuration to 192.168.131.0/24

This way you can use both the ethernet ports interchangably in the jackal.

VLP16 range params

min angle: 260 deg
max angle: 120 deg
min_range: 0.3

120deg   1   260deg
       1   1  
     1       1
       1   1
         1
         0deg

PCL data update: 6Hz