ROS

How to use a calibrated camera in ROS

2 Comments / Computer Vision, ROS, Tutorials /

In my previous tutorial I showed you how to calibrate a camera with ROS. In this tutorial, I’m gonna show you how to rectify the images from coming from your camera. First, open your text editor and paste the following text into it:

make the necessary changes and save it under usb_cam_stream_publisher.launch Now run it:

Open […]

How to use a calibrated camera in ROS Read More »

Real-time object recognition and 6DOF pose estimation based on Linemod algorithm with ROS and PCL pointcloud

5 Comments / Computer Vision, Machine Learning, ROS, Tutorials /

In this tutorial, I’m gonna show you how to do object recognition and 6DOF pose estimation in real-time based on Linemod algorithm with ROS and PCL pointcloud. First, you need to install ork:

Then add the model of your object for tracking to Couch DB:

You need to install Kinect driver, if you don’t

Real-time object recognition and 6DOF pose estimation based on Linemod algorithm with ROS and PCL pointcloud Read More »

SLAM using gmapping with TurtleBot robot and Gazbo

1 Comment / ROS, Tutorials /

In this tutorial, we do some SLAM with TurtleBot robot. 1.Before anything, you have to install all packages for gazebo and gmapping and TurtleBot:

2.Launch gazebo and TurtleBot

3. Call the gmapper to read laser scan and build the map:

Only for indigo: if you got and error, you need to do some hacky stuff

SLAM using gmapping with TurtleBot robot and Gazbo Read More »

Making occupancy grid map in ROS from gazebo with Octomap

4 Comments / C++, ROS /

Here is an example of obtaining occupancy grid from sensory data of turtlebot robot. 1.First you need to install all dependencies for gazebo and turtlebot and  octomap server:

2. Launch gazebo in a simulated environment:

3.Launch RVIZ to view the published data

3.Move your robot via keyboard:

to learn how to move the robot with

Making occupancy grid map in ROS from gazebo with Octomap Read More »

Sample based-optimisation-based planner with signed distance fields cost map

Leave a Comment / C++, Machine Learning, Manipulation, ROS, Tutorials /

Rapidly-exploring random trees (RRT) and their variant are a very power solution for solving motion planning problem in robotics, but they suffer from finding an optimise solution and the generated path is usually jerky with redundant movements. Sample based-optimisation-based planners benefit the robustness of RRT and the possibility of imposing a cost function. Here in this work, I

Sample based-optimisation-based planner with signed distance fields cost map Read More »

6DOF pose estimation with Aruco marker and ROS

29 Comments / Computer Vision, Image Processing, ROS, Tutorials /

ArUco is a simple yet great library for augmented reality applications. In this tutorial, I’m gonna show you how to track ArUco marker and estimate their 6DOF pose with ROS. For this tutorial, you only need a USB camera. You need to calibrate your camera before first. If you don’ know how to that just follow my other tutorial

6DOF pose estimation with Aruco marker and ROS Read More »

Send CMake param to catkin

Leave a Comment / C++, ROS, Tutorials /

It quite often happens that you need to send a CMake parameter to your catkin project, for instance, you need to build your code for debugging mode. The correct syntax is:

another example:

read more: http://wiki.ros.org/catkin/Tutorials/using_a_workspace  

Send CMake param to catkin Read More »