Jackal simulator
Jackal desktop
Jackal Navigation
Velodyne
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
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
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