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Project Setup and Execution

This guide outlines the steps required to run the perception stack using ROS. Follow the terminal instructions below in the given order to ensure proper execution.

Prerequisites

  • ROS installed
  • Cloned this repository
  • Necessary .bag files available(For simulation)

Usage

Step 1: Launch your robot and sensors

Open Terminal 1 and run:

roslaunch rplidar_ros rplidar_a1.launch

Open Terminal 2 and run:

roslaunch usb_cam usb_cam-test.launch

Also, launch required nodes to get position of robot topic (in case your using Indoor mobile robot - /pose_ekf)

Step 2: Start Image Processing Node

Open Terminal 3 and run:

ROS_NAMESPACE=usb_cam rosrun image_proc image_proc

Step 3: Start Camera-LiDAR Projection

Open Terminal 4 and run:

roslaunch camera_2d_lidar_calibration reprojection_real.launch

Step 4: Start Tracking

Open Terminal 5 and run:

roslaunch tracking tracking_real.launch

Step (For simulation) : Play the Required Bag File (Instead of step 1)

Open Terminal 1 and run:

cd <Bagfile location>
rosbag play <required_bagfile>

Step (For Ground truth) : Launch AprilTag Ground Truth ( OPTIONAL )

Open Terminal 6 and run:

cd catkin_ws
roslaunch apriltag_ros ground_truth.launch

Note: Replace <Bagfile location> with path of the bagfile directory and <required_bagfile> with your desired bag file name.

Notes

  • Ensure all dependencies are correctly sourced before launching nodes.