KON-414E Final Project

This repository contains ROS Packages about Final Project of the KON414E "Principles of Robot Autonomy" Course given at Istanbul Technical University in the fall term of 2024/2025.

Objective: 3D Mapping of the Environment

Robot

AgileX HUNTER 2.0

Sensors

1. 3D LIDAR
• 360° horizontal and 30° vertical FOV
• 0.5° horizontal and vertical resolution
• 20m range
• 10Hz refresh rate
2. RTK-GPS
• +/-2cm precision

Project Description

1. Point Cloud Map generation for the Gazebo environment (Clearpath Robotics Inspection World) using RTAB Mapping
2. Odometry source will be RTK-GPS + Wheel Odometry of the vehicle (fusing with robot_localization package)
3. Converting Point Cloud Map into Octomap(s) with different resolutions and evaluate resolution effects on environment representation
4. Check map resolution effect on Autonomous Navigation

Gazebo World: CPR Inspection World

Some Stages of the Project

Installation

1. Clone the repository to your workspace's src directory.
2. Go to parent directory.
3. Build workspace.

cd your_workspace/src
git clone "repository link"
cd ..
catkin_make

Dependency

• hector_gazebo_plugins for Gazebo GPS plugin (has to be installed)
• point_cloud_converter to convert PointCloud to PointCloud2
• The ROS packages for the robots were created by modifying the ROS packages of the relevant robots (HUNTER SE, HUNTER 2.0) from the agilexrobotics/ugv_gazebo_sim GitHub Repository
• rtabmap_ros for RTAB Mapping and Octomap generation (has to be installed)