- 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.
- Install additional pip dependencies
pip install shapely pyquaternion
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.