This repo contains the ROS packages and files need to run automatic localization with a LIDAR + RPi set.
- my_carto
- Custom Cartographer configuration and launch file examples for A1 lidar + RPI
- my_pure_loc
- Custom package runing Map Server, Laser Scan Matcher and AMCL + some configuration and examples
- save_poses
- Example of a package that subscribes to a current topic
- scan_tools
- Package needed to run AMCL
- process_bag_amcl_pose.m
- This script processes the ROS .bag files saved containing the /amcl_pose topic. Will return the best (in terms of covar) X, Y and timestamp found within the .bag. Also, outputs a tag.txt file compatible with AoA TI tool.
- chrony_commands
- Contains the chrony commands to force time sync. between machines. A time offset between the node and the master will result in localization failure or errors.
- magick
- ImageMagick is a free and open-source cross-platform software suite for displaying, creating, converting, modifying, and editing raster images. Useful for converting .png (etc.) map images to .pgm format used by ROS and the Map Server package.