About

This repository contains code for a proof of concept localization method that uses structural cues in a man-made environment (warehouses for our case) and generates state estimates that are drift free in a local sense.

We call this method ELSIA which is short for Exploitative Localization using Structure Inside Aisles.

Cloning the repo with submodules

git clone --recurse-submodules git@github.com:karry3775/Elsia_ws.git

Building the repo

catkin build -j8 (Use -j flag to specify how many cores you want to use)

Environment setup

• Copy the environment models inside ~/.gazebo/models

Dependencies

• keyboard module python
  • sudo su && pip install keyboard
• latex
  • sudo apt install texlive-fonts-recommended texlive-fonts-extra
  • sudo apt install dvipng

Codes to run

• Spawn robot in an environment
  • roslaunch elsia simulation.launch world:=isolated_aisles (OR)
  • roslaunch elsia simulation.launch world:=multiple_aisles (OR)
  • roslaunch elsia simulation.launch world:=warehouse_like
• Open up the teleoperation code (this needs to be done in sudo mode as per the requirements of keyboard module in python)
  • cd && sudo su
  • source Documents/Elsia_ws/devel/setup.bash && rosrun elsia jacky_teleoperate.py
• Initiate Block Counting
  • rosrun elsia block_counting.py