quack-norris

Prerequisites

1. Download and build packages

cd ~/code/catkin_ws/user_code/ # Navigate to the source space
git clone https://github.com/AprilRobotics/apriltag.git          # Clone Apriltag library
git clone https://github.com/AprilRobotics/apriltag_ros.git      # Clone Apriltag ROS wrapper
git clone https://github.com/maximilianeberlein/quack-norris.git # Clone this repo
git clone https://github.com/debaumann/quack_norris_utils.git    # Clone our utils repos
cd ~/code/catkin_ws        # Navigate to the workspace
rosdep install --from-paths src --ignore-src -r -y
catkin build apriltag_ros quack-norris quack_norris_utils # Build all relevant packages in the workspace

Note: Installation of rosdep may be necessary. If so, run

sudo apt update
sudo apt-get install python3-rosdep
sudo rosdep init
rosdep update

before running the rosdep install command.

2. Install additional pip dependencies

pip install shapely pyquaternion

Usage

To launch our main code, including our local planner, odometry, apriltag_ros and low-level controllers, run

roslaunch quack_norris main_node.lauch

If you want to additionally visualize the pose of the DuckieBot and AprilTags within a global map in RViz, run in a separate terminal

roslaunch quack_norris visualization.launch map_name:="<name_of_map>"

You can choose any map defined in params/maps.yaml, such as "lap_middle". The visualization is computationally intensive, so it should be used for debugging purposes only.

To test the global planner, run rosrun quack_norris map_service_node.py and rosrun quack_norris map_client_node.py in separate terminals.