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About

This repository contains code for a proof of concept localization method that uses structural cues in a man-made environment (warehouses for our case) and generates state estimates that are drift free in a local sense.

We call this method ELSIA which is short for Exploitative Localization using Structure Inside Aisles.

Cloning the repo with submodules

git clone --recurse-submodules [email protected]:karry3775/Elsia_ws.git

Building the repo

catkin build -j8 (Use -j flag to specify how many cores you want to use)

Environment setup

  • Copy the environment models inside ~/.gazebo/models

Dependencies

  • keyboard module python
    • sudo su && pip install keyboard
  • latex
    • sudo apt install texlive-fonts-recommended texlive-fonts-extra
    • sudo apt install dvipng

Codes to run

  • Spawn robot in an environment
    • roslaunch elsia simulation.launch world:=isolated_aisles (OR)
    • roslaunch elsia simulation.launch world:=multiple_aisles (OR)
    • roslaunch elsia simulation.launch world:=warehouse_like
  • Open up the teleoperation code (this needs to be done in sudo mode as per the requirements of keyboard module in python)
    • cd && sudo su
    • source Documents/Elsia_ws/devel/setup.bash && rosrun elsia jacky_teleoperate.py
  • Initiate Block Counting
    • rosrun elsia block_counting.py