thesis_ws

Repository of the work developed in my thesis in FCT/UNL

Overview

This is a ROS package that joins people detection into the navigation process.

Instalation

• Download the packages in src folder.

• Install dependencies specified in grid_map and spencer_people_tracking packages.

• Install libsvm.

    sudo apt-get install libsvm-*
  

• Install lms1xx.

    sudo apt-get install ros-kinetic-lms1xx
  

• Install ROS multimaster_launch.

    sudo apt-get install ros-kinetic-multimaster-*
  

• Install interactive_markers twist server.

    sudo apt-get install ros-kinetic-interactive-marker-*
  

• Install twist mux.

    sudo apt-get install ros-kinetic-twist-mux
  

• Install robot-pose-ekf.

    sudo apt-get install ros-kinetic-robot-pose-ekf 
  

• Install AMCL localization package.

    sudo apt-get install ros-kinetic-amcl
  

• Install SLAM Gmapping.

    sudo apt-get install ros-kinetic-gmapping
  

• Install Navigation package.

    sudo apt-get install ros-kinetic-navigation
  

• Install grid_map package.

    sudo apt-get install ros-kinetic-grid-map
    sudo apt-get install ros-kinetic-grid-map-*
  

• Install gazebo plugins.

    sudo apt-get install ros-kinetic-hector-gazebo-plugins 
  

• Install spencer_people_tracking.

    sudo apt-get install ros-kinetic-spencer-people-tracking-full
  

• Or just give the script in /thesis/scripts folder permissions and run it.

   chmod +x install_dependencies.sh
   sudo ./install_dependencies.sh
  

• Export gazebo models in ~/.bashrc.

   export GAZEBO_MODEL_PATH=<your_path>/models:$GAZEBO_MODEL$
  

Running

• Launch the simulated world and jackal descriptions and controls.

    roslaunch human_aware_navigation world.launch
  

• Launch mapping.

    roslaunch human_aware_navigation mapping.launch
  

• Launch navigation, people detection and this thesis middleware.

    roslaunch human_aware_navigation bringup.launch
  

Important Notes

• The labeled map image need to be oriented as you want it to be read. You can see the examples for orientation.