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SONIC TO LASER

This is the tutorial for understanding the use of ultrasonic waves and laser. We also observe their characteristics and properties.

Benefits

-use of slam -use of point cloud -understanding angle increment of those two sensors -micro_ros_arduino -using IMU as rotation using IMU_tools ( IMU drift over time)

Requirements

Tutorial

  • Go to your workspace

  • Download the repository

  • git clone https://github.com/gyiptgyipt/sonic_to_laser.git
    
  • Build the project

  • colcon build --symlink-install
    
  • source install/setup.bash
    
  • Upload the micro_ros program to your microchip.(don't forget to change the SSID,PASSOWRD AND TARGET IP)

warning

make sure that installing micro_ros_arduino library.

library link : micro_ros_arduino

If it not installed, micro_ros.org and follow the tutorial.

-In that link you can use to upload firmware with that packages but there is a little probem with my machine, so I used above methods. And build and source declear that project in your ros2 workspace.

-I just use the micro_ros_agent from that tutorial.(Because we uploaded our firmware with arduino IDE)

In this project, I use wifi udp4 to get the data from micro_controller.

warning : Don't use 24,25 pins for joystick module in esp32 (That used by wifi).

If it already installed, run micro ros agent

ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888

And than you will see the node and topic in host computer(that use targeted IP address)

  • And Run
  • ros2 run sonic_to_laser sonic_to_laser
    
  • after that /laser topic formed from /sonic (Changed sonic data to laser data )

SlAM

ros2 launch sonic2laser_map online_async_launch_mapping.launch.py

-Open rviz2.

rviz2

-Set the global frame to map and

-Start vizualize your map.

-<If you want to save map, use map saver and map server packages>

-YOUTUBE_VIDEO_LINK

Future plan - make odometry smooth and get low noises map. But because of the angle increment of sonic wave is 30 degrees, it should be only work in small area environment.

Free to ask me anytime if something was wrong, I love to help you guys <3