rosrun halc0311_simulation turtlebot_move_spawn_write.py (this program is somehow so slow)
don’t know why the robot is so drift left/right when command moving forward.
Thinking a better way to generate the waypoints…..
default turtlebot costmapafter reduce threshold on costmap
#1 run gazebo of simulation map
roslaunch halc0311_simulation turtlebot3_gazebo_halc.launch
#2 run amcl navigation (rviz) reading a scan map
roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/catkin_ws/src/halc0311_simulation/map/halc0311_c.yaml
# for keyboard control
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
#3 save current amcl pose (waypoint) to a file and mark a waypoint on gazebo
rosrun halc0311_simulation recorddraw_goal2digit_onefile.py
#4 read the waypoint file and let the robot move along the waypoint
rosrun halc0311_simulation megarover_sequence_goals.py goal_sequence_20250316_161024.yaml
# cancel navigation goal
rostopic pub /move_base/cancel actionlib_msgs/GoalID -- {}
run keyboard or mouse
rosrun teleop_twist_keyboard teleop_twist_keyboard.py // not work
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch //ok
[ERROR] [1741507226.788502]: bad callback: <bound method MapConverter.map_callback of <__main__.MapConverter object at 0x7fd8238e8f40>>
Traceback (most recent call last):
File "/opt/ros/noetic/lib/python3/dist-packages/rospy/topics.py", line 750, in _invoke_callback
cb(msg)
File "/home/zotac-d05/catkin_ws/src/map2gazebo/src/map2gazebo.py", line 30, in map_callback
contours = self.get_occupied_regions(map_array)
File "/home/zotac-d05/catkin_ws/src/map2gazebo/src/map2gazebo.py", line 72, in get_occupied_regions
image, contours, hierarchy = cv2.findContours(
ValueError: not enough values to unpack (expected 3, got 2)
First we need to install these libraries pip install –user trimesh pip install –user numpy pip install –user pycollada pip install –user scipy pip install –user networkx
2. Then change open function variable from “w” to “wb”
if mesh_type == "stl":
with open(export_dir + "/map.stl", 'wb') as f:
mesh.export(f, "stl")
rospy.loginfo("Exported STL. You can shut down this node now")
elif mesh_type == "dae":
with open(export_dir + "/map.dae", 'wb') as f:
f.write(trimesh.exchange.dae.export_collada(mesh))
3. You can select output between stl or dae
~/catkin_ws/src/map2gazebo/config/defaults.yaml
4. The export directory was set to $(find map2gazebo)/models/map/meshes” if there is no this folder, it will say the error…
roslaunch map2gazebo gazebo_world.launchrelationship between pgm image and the yaml original setting that reflect gazebo worldyaml adjustment
Then, File -> Save World As halc.world hence you will get the current camera pose. copy the models folder to the package where you copy .world to
zotac-d05@d05:~/catkin_ws/src$ catkin_create_pkg halc_simulation
Created file halc_simulation/package.xml
Created file halc_simulation/CMakeLists.txt
Successfully created files in /home/zotac-d05/catkin_ws/src/halc_simulation. Please adjust the values in package.xml.
zotac-d05@d05:~/catkin_ws/src$ cd halc_simulation
zotac-d05@d05:~/catkin_ws/src/halc_simulation$ mkdir -p worlds launch
zotac-d05@d05:~/catkin_ws$ catkin build
roslaunch halc_simulation gazebo_halc.launch
Creating a world with turtlebot (this method load map.sdf, unable to adjust the camera pose, just save the world via gazebo is fine!)
zotac-d05@d05:~$ roslaunch turtlebot3_gazebo turtlebot3_fmt_world.launch
... logging to /home/zotac-d05/.ros/log/c07d07c4-fca8-11ef-89bd-9985b327fdea/roslaunch-d05-17171.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
RLException: Invalid <param> tag: Cannot load command parameter [robot_description]: no such command [['/opt/ros/noetic/share/xacro/xacro.py', '/home/zotac-d05/catkin_ws/src/turtlebot3/turtlebot3_description/urdf/turtlebot3_waffle_pi.urdf.xacro']].
Param xml is <param name="robot_description" command="$(find xacro)/xacro.py $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro"/>
The traceback for the exception was written to the log file
go back to the tutorial ROS演習7-2019：デッドレコニングを実装しよう！
note that there are turtlebot3_fmt_world.launch file, fmt.world file and fmt model file.
fmt model folder with sdf model and config.
then try the program again roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch roslaunch turtlebot3_gazebo turtlebot3_fmt_world.launch roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping
zotac-d05@d05:~/catkin_ws/src/my_gazebo_world/worlds$ gazebo 02_map_world
Error [parser.cc:775] No <model> element in configFile[/home/zotac-d05/.gazebo/models/my_ground_plane/model.config]
Error Code 12 Msg: Unable to resolve uri[model://my_ground_plane] to model path [/home/zotac-d05/.gazebo/models/my_ground_plane] since it does not contain a model.config file.
~/.gazebo/models
Move 01_square_world to ~/catkin_ws/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/01_square_world.world
Create turtlebot3_square_world.launch in turtlebot3_square_world.launch
Sobel operator is a popular edge-detection filter that approximates the first derivative of the image. There are two Sobel kernels, one for detecting horizontal edges and one for vertical edges:
the Harris corner detector uses a second-order Taylor expansion to model how the intensity of an image changes in the local neighborhood around each pixel
import os
import shutil
from pathlib import Path
def move_images_and_delete_folders(folder_path):
print("process on :"+folder_path)
# Get a list of all subdirectories
subdirectories = [f for f in os.listdir(folder_path) if os.path.isdir(os.path.join(folder_path, f))]
# Iterate through each subdirectory
for subdir in subdirectories:
print(subdir)
subdir_path = os.path.join(folder_path, subdir)
if not os.path.isdir(subdir_path):
print("not a directory, skip!")
continue
# Get a list of all files in the subdirectory
files = [f for f in os.listdir(subdir_path) if os.path.isfile(os.path.join(subdir_path, f))]
folder_contain_image = False
# Iterate through each file in the subdirectory
for file in files:
# Check if the file is an image (you can customize this check based on your file extensions)
if file.lower().endswith(('.png', '.jpg', '.jpeg', '.gif', '.bmp')):
# Move the image file to the parent directory
source_file = os.path.join(subdir_path, file)
destination_file = os.path.join(folder_path, file)
shutil.move(source_file, destination_file)
folder_contain_image=True
# Delete the empty subdirectory
if(folder_contain_image):
os.rmdir(subdir_path)
# Replace 'your_folder_path' with the path to the folder containing subfolders
folder_path = os.getcwd()
move_images_and_delete_folders(folder_path)
