Contributor: Dhruv Singh

The repository has 5 packages:

1) DR_SPAAM_ROS: Package for detecting person from LiDAR data

2) rf2o_laser_odometry: For generating fake odometry in some cases

3) rplidar_ros: Standard package for getting sensor data from RPLiDAR

4) wc_navigation: Relevant launch files for navigation of wheelchair in 2D mode.

5) wc_navigation3D: Relevant launch files for navigation of wheelchair in 3D mode.

The goal_set.py node and sock.py node use socket API to get goal positions from another computer working on BCI headset data and publish the corresponding goal to the navigation stack.

For mapping the arena using Hector SLAM

Launch rplidar node

roslaunch rplidar_ros rplidar.launch

Launching the mapping node

roslaunch wc_navigation map_hector.launch

Saving the map

rosrun map_server map_saver -f test_1

To launch the navigation using only RViZ

roslaunch wc_navigation wc_navigation.launch

To launch the navigation and integrate the BCI headset

roslaunch wc_navigation wc_bci.launch

Using D415 here, other cameras might have different configurations

1. Install Realsense wrappers

GitHub - IntelRealSense/realsense-ros at ros1-legacy

sudo apt-get install ros-$ROS_DISTRO-realsense2-camera

2. Install RTAB-MAP

https://github.com/introlab/rtabmap_ros

Can install from source or apt too

sudo apt-get install ros-$ROS_DISTRO-rtabmap-ros

3. Run into terminal

roslaunch realsense2_camera rs_camera.launch align_depth:=true

Make sure that /camera/aligned_depth_to_color/image_raw is being published

4. Run into terminal

roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start --Optimizer/GravitySigma 0.3" depth_topic:=/camera/aligned_depth_to_color/image_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info approx_sync:=false

D435i

Run into terminal

rosrun imu_filter_madgwick imu_filter_node _use_mag:=false  _publish_tf:=false _world_frame:="enu"  /imu/data_raw:=/camera/imu  /imu/data:=/rtabmap/imu

Run into terminal

roslaunch rtabmap_ros rtabmap.launch	rtabmap_args:="--delete_db_on_start --Optimizer/GravitySigma 0.3"	depth_topic:=/camera/aligned_depth_to_color/image_raw	rgb_topic:=/camera/color/image_raw	camera_info_topic:=/camera/color/camera_info	approx_sync:=false	wait_imu_to_init:=true	imu_topic:=/rtabmap/imu

roslaunch wc_navigation3D wc_3d_mapping.launch

roslaunch wc_navigation3D wc_3D2.launch

roslaunch dr_spaam_ros dr_spaam_ros.launch

rosrun rosserial_python serial_node.py /dev/ttyACM0

2D map of lab

2D navigation in a lab environment

3D mapping in a lab environment

3D navigation in lab environment

2D navigation

2D_nav.mp4

3D navigation

3D_nav.mp4

IMU visualization in rviz imu_visulaization

uvc streamer issues:

IntelRealSense/realsense-ros#2149