Week 5-6: Gazebo sensors

This is how far we will get by the end of this lesson:

Table of Contents

1. Introduction
   1.1. Download ROS package
   1.2. Test the starter package
2. Camera
   2.1. Image transport
   2.2. rqt reconfigure
   2.3. Wide angle camera
3. IMU
   3.1. Sensor fusion with ekf
4. GPS
   4.1. Haversine formula
   4.2. GPS waypoint following
5. Lidar
   5.1. 3D lidar
6. RGBD camera
7. Image processing with OpenCV

Introduction

After we built a simulated robot that we can drive around manually, we’ll start adding various types of sensors to it. We’ll see how to improve the odometry with sensor fusion using an IMI, how to follow GPS waypoints and we’ll use various cameras and lidars.

Download ROS package

The starting package of this lesson is very similar to where we just finished in the previous lesson, but don’t forget that every lesson has its own starter package that you can donwload from GitHub. To download the starter package clone the following git repo with the starter-branch (using the -b branch flag) to your colcon workspace:

git clone -b starter-branch https://github.com/MOGI-ROS/Week-5-6-Gazebo-sensors.git

As we saw prevoiusly we can take a look what’s inside the bme_gazebo_sensors package with the tree command!

.
├── CMakeLists.txt
├── package.xml
├── config
│   └── ekf.yaml
├── launch
│   ├── check_urdf.launch.py
│   ├── spawn_robot.launch.py
│   └── world.launch.py
├── meshes
│   ├── lidar.dae
│   ├── mogi_bot.dae
│   └── wheel.dae
├── rviz
│   ├── gps.rviz
│   ├── rviz.rviz
│   └── urdf.rviz
├── urdf
│   ├── materials.xacro
│   ├── mogi_bot.gazebo
│   └── mogi_bot.urdf
└── worlds
    ├── empty.sdf
    ├── home.sdf
    └── world.sdf

Let’s see what will we do with the existing files and folders:

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