Tutorials

Docker

Leave a Comment / Docker, Tutorials /

Installation Please visit the official documentation page but do not forget to add the permission problem:

Docker image If the image doesn’t exist it will pull it from hub.docker.com Basically, it runs the pull command beforehand:

for instance, to install Ubuntu 20.04

to check the version, just run:

To see available […]

Docker Read More »

Assembling Laser scans into PCL point cloud Using Gazebo and ROS

3 Comments / Computer Vision, ROS, Tutorials /

For this work, first I loaded the RRBot in Gazebo and launched Its joints controller, then I sent a periodic signal to the robot such that the laser scanner mounted on the robot swings. In the following, I assembled the incoming laser scans with the transformation from tf and created PCL point cloud. Install the necessary

Assembling Laser scans into PCL point cloud Using Gazebo and ROS Read More »

Controlling your robot with joystick and reading data from it

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

First, install the necessary package:

make sure your joystick is working:

also, make sure your controller has correct permissions:

The permission on the last column must be rw, if it “–” like this:

then correct the permission:

run the Joy node and roscore:

The joystick data are being published under

Controlling your robot with joystick and reading data from it Read More »

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 »