I3DR SBRI package

ROS control package for i3dr cameras in SBRI project

Features

• I3DR Phobos Nuclear stereo camera control
• UR10 control for autonomous mapping
• RTABMAP wrapper for estimation of odometry and building room map

Run

Setup catkin workspace

source devel/setup.sh

Run Phobos Nuclear launch file

roslaunch i3dr_phobos_nuclear phobos_nuclear split_laser:=true

Starts capturing stereo images from phobos nuclear and generates 3D data.

For mapping laser is toggled on and off.

When the laser is on, 3D data is generating with assistance from the laser for a more filled out scene.

When the laser is off, image data can be fed to visual SLAM feature matchers that would otherwise be confused by image data with laser.

Images are captured at 4 fps.

Run RTABMAP mapping

roslaunch i3dr_rtabmap standalone_rtabmap.launch

Starts rtabmap nodes for mapping using stereo information from phobos nuclear.

Uses Visual SLAM to estimate odometry of camera and align 3D data in map.

Run UR10 mapping launcher

roslaunch i3dr_ur10 ur10_auto_map.launch gui:=false

Starts UR10 control nodes and creates mapping path for robot.

Start/stop of the mapping can be triggered using the GUI (if enabled with gui:=true), or via services:

• Go to next pose in mapping sequence: rosservice call /i3dr_scan_next_pose {}

• Go to home pose: rosservice call /i3dr_scan_home_pose {}

• Go to fold pose: rosservice call /i3dr_scan_fold_pose {}

• Start/stop continuous mapping sequence: rosservice call /i3dr_scan_continuous {}

• Cancel movement/sequence: rosservice call /i3dr_scan_cancel_pose {}

Will pause RTABMAP while the robot is moving to avoid errors from motion.

Rosbags

There are launchers provided for recording rosbags so that different techniques can be tested.

Record rosbag

roslaunch i3dr_sbri rosbag_record.launch folder_name:=path/to/bag bag_name:=BAG_NAME camera_name:=CAMERA_NAME

Required arguments:

• Directory to save rosbag: folder_name:=[path/to/bag]
• Filename for rosbag: bag_name:=[BAG_NAME]
• Namspace for camera images: camera_name:=[CAMERA_NAME] (default: 'phobos_nuclear')

Optional arguments:

• Save TF / joint data from UR10: save_tf:=[true/false] (default: true)
• Is camera using split laser interlacing: split_laser:=[true/false]

Playback rosbag

roslauch i3dr_sbri rosbag_play.launch folder_name:=path/to/bag bag_name:=BAG_NAME.bag

Required arguments:

• Directory to save rosbag: folder_name:=[path/to/bag]
• Filename for rosbag: bag_name:=[BAG_NAME]