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fim_track_2

https://github.com/cong-harvard/fim_track_2

Science Score: 44.0%

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  • ✓
    CITATION.cff file
    Found CITATION.cff file
  • ✓
    codemeta.json file
    Found codemeta.json file
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    .zenodo.json file
    Found .zenodo.json file
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    Scientific vocabulary similarity
    Low similarity (11.0%) to scientific vocabulary
Last synced: 9 months ago · JSON representation ·

Repository

Basic Info
  • Host: GitHub
  • Owner: CoNG-harvard
  • Language: Python
  • Default Branch: master
  • Size: 529 KB
Statistics
  • Stars: 0
  • Watchers: 0
  • Forks: 0
  • Open Issues: 0
  • Releases: 0
Created almost 6 years ago · Last pushed almost 3 years ago
Metadata Files
Readme Citation

README.md

fimtrack2

This is the ROS2 version of fim_track package. Testing on ROS2 dashing, Gazebo 9, Ubuntu 18.04.

First Steps and Example Usage

Prerequisite: on a Ubuntu 18.04/20.04 system, install ROS2 and Gazebo 9/11(following the instructions on https://emanual.robotis.com/docs/en/platform/turtlebot3/quick-start/#pc-setup).

Assume you have followed all the instructions on Turltebot3 emanual website, your current ROS workspace directory should be turtlebot3_ws.

Clone fimtrack2 repository into turtlebot3_ws/src.

Call $colcon build --symlink-install to build the package.

And call $source /turtlebot3_ws/install/setup.bash to ensure the executables in fimtrack2 are visible to ros2 command.

Then in a terminal, add the model files to $GAZEBO_MODEL_PATH

$export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/turtlebot3_ws/src/fim_track_2/models

Now we should be able to launch the pre-configured gazebo simulation via

$ros2 launch fim_track_2 gazebo_simulation_launch.py

Use $ros2 topic list to view the collection of published topics.

Then use

$ros2 run fim_track_2 manual_teleop_key <robot_namespace>

without the ".py" postfix to "manualteleopkey" to control individual robots using keyboard.

Special attention when running mytb3bringup for the first time on a Turtlebot

The specification file burger.yaml needs to be editted for the mytb3bringup script to work. Specifically, go to folder /param and open burger.yaml, replace MobileSensor3 with the hostname of the new robot. Here hostname can be found by typing hostname in the Linux terminal.

Owner

  • Name: CoNG at Harvard
  • Login: CoNG-harvard
  • Kind: organization

Citation (CITATION.cff) 

# This CITATION.cff file was generated with cffinit.
# Visit https://bit.ly/cffinit to generate yours today!

cff-version: 1.2.0
title: Distributed Information Based Source Seeking
message: >-
  If you use this software, please cite it using the
  metadata from this file.
type: software
authors:
  - given-names: Tianpeng
    family-names: Zhang
    email: tzhang@g.harvard.edu
    affiliation: Harvard University
    orcid: 'https://orcid.org/0000-0001-8700-8715'

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Dependencies

setup.py pypi
  • setuptools *