Tutorial 4: Keyboard Mapping

Indoor Environment Mapping Tutorials

Keyboard Mapping

• Required ROS Packages

  • For using Realsense R200 camera in Gazebo
    1. realsense_gazebo_plugin ^[2] - [1]
  • For registering the depth image to colour image frame
    1. depth_image_proc - [1]
    2. image_common - [1]
  • For incremental mapping
    1. rtabmap_ros - sudo apt-get install ros-indigo-rtabmap-ros
  • For keyboard control of the ARDrone
    1. cvg_sim_gazebo - [1]

• Required Files

  • demo.launch (realsense_gazebo_plugin/launch) - Launch Gazebo7 and load the simulated world
  • register.launch (realsense_gazebo_plugin/launch) - Launch a nodelet to register the depth image to the colour image frame
  • pub_camera_info.py (realsense_gazebo_plugin/scripts) - Run a script to publish fake depth and color camera info for the simulated cameras
  • ardrone_get_odometry.py (cvg_sim_gazebo/scripts) - Run a script to fetch pose of the ardrone in Gazebo and publish the tf
  • realsense.launch (realsense_gazebo_plugin/launch) - Launch the RTAB-Map package
  • keyboard.py (cvg_sim_gazebo/scripts) - Start the keyboard tele-op to control the drone in Gazebo

• Procedure

  • Launch demo.launch present in realsense_gazebo_plugin package to start the simulated world along which has the ARDrone with a Realsense R200 camera mounted on it
  • Launch register.launch present in realsense_gazebo_plugin package to register the depth image stream to the colour image stream
  • Run the script pub_camera_info.py to publish fake camera metadata for the simulated Realsense R200 camera
  • Run the script ardrone_get_odometry.py present in cvg_sim_gazebo package to fetch pose of the ardrone in Gazebo and to publish the corresponding transform (tf)
  • Launch rtabmap.launch present in realsense_gazebo_plugin package to start RTAB-Map package which will start the incremental mapping process
  • Start the ARDrone in simulation using the keyboard tele-op script (keyboard.py) present in cvg_sim_gazebo package and move the ARDrone to build a map of the world.

• Appendix

1. Github Link for packages - https://github.com/eYSIP-2017/eYSIP-2017_Indoor-Environments-Mapping-using-UAV
2. Link to install Gazebo7 - https://github.com/eYSIP-2017/eYSIP-2017_Indoor-Environments-Mapping-using-3. UAV/blob/master/bash_scripts/install_gazebo7.sh
3. Bash Script to launch all nodes and scripts for keyboard mapping - https://github.com/eYSIP-2017/eYSIP-2017_Indoor-Environments-Mapping-using-UAV/blob/master/bash_scripts/keyboard_mapping.sh
4. Full video link - https://youtu.be/cg0Gf3kulE8