ICT-example

Example code of Design and Implementation of Robotic Systems and Applications

Prerequisite

sudo apt install python3-catkin-tools

Install

source /opt/ros/<ros-distro>/setup.bash
git clone --recursive https://github.com/ISCI-LAB/ICT-example.git
cd ~/ICP-example/catkin_ws
rosdep install --from-paths src --ignore-src -r -y
catkin build

Quickstart

1. Launch locobot gazebo simulation program.

   roslaunch ict_gazebo locobot_sim.launch world:=placing use_camera:=true

2. Launch apriltag detector

   roslaunch apriltag_ros continuous_detection.launch camera_frame:=<frame_name> camera_name:=<camera_name> image_topic:=<topic_name>

3. Transform tag frame to locobot goal pose.

   roslaunch baseline_navi apriltags_to_goalpoint.launch

4. Launch locobot navigation controller

   roslaunch baseline_navi navigation.launch