The ROS package for Airbotics.

Overview

airbotics

The ROS package for Airbotics:

  • Developed for ROS 1 and Python 3.8.

  • The package has not been officially released on ROS yet so manual installation is still required.

  • The package contains a single node called airbotics that either: 1) subscribes to a map topic on the robot and sends it to the cloud to be saved, or 2) loads a map from the cloud and serves it to rest of the robot over a topic.

To install

mkdir -p catkin_ws/src
cd catkin_ws/src
git clone https://github.com/Airbotics/airbotics
cd airbotics
pip3 install -r requirements.txt
cd ../..
catkin_make
source devel/setup.sh

To run

Firstly, you must set your API Key as an environment variable so the client can authenticate with the backend. Your API key can be generated by using the web console, API, CLI or SDKs.

export AIR_API_KEY=<insert-api-key-here>

The Airbotics node must be started using the launch file and can be run in two modes: save or serve. You must provide a map_slug as a parameter to the launch file.

Send a map from the robot to the cloud

The map must exist in your account before you run this command.

roslaunch airbotics save.launch map_slug:=<some-map-slug>

Load a map from the cloud and serve it to the robot

The map must exist in your account and have at least one version before you run this command.

roslaunch airbotics serve.launch map_slug:=<some-map-slug>

Parameters

You may provide other optional parameters to the launch file:

Name ROS Parameter Type Default Description
map_version /air/map_version str latest Which map version to load from the cloud. Must be a postive int or 'latest'. Only used when serving.
map_topic /air/map_topic str /map Name of the topic to which maps are published.
map_metadata_topic /air/map_metadata_topic str /map_metadata Name of the topic to which map metadata is published.
map_throttling /air/map_throttling int 5 Whether to throttle sending updates. Will send every x map updates received. Set to 0 to send every update.
map_origin /air/map_origin [float] [0.0, 0.0, 0.0] The 2-D pose of the lower-left pixel in the map, as (x, y, yaw). Only used when serving.
map_resolution /air/map_resolution float 0.1 Resolution of the map. Only used when serving.
map_frame_id /air/map_frame_id str map Frame of the map. Only used when serving.

Example of running the Airbotics node in save mode with all relevant parameters:

roslaunch airbotics serve.launch map_slug:=<some-map-slug> \
    map_topic:=/robot/map \
    map_metadata_topic:=/robot/map_metadata \
    map_throttling:=5

Example of running the Airbotics node in serve mode with all relevant parameters:

roslaunch airbotics serve.launch map_slug:=<some-map-slug> \
    map_version:=42 \
    map_topic:=/robot/map \
    map_metadata_topic:=/robot/map_metadata \
    map_origin:=[10.0,10.0,0.0] \
    map_resolution:=0.05 \
    map_frame_id:=map

Contributing

We love contributions! Please see our Contributing guide for more information.

License

The software in this repository is licensed under the Apache 2.0 License. Copyright 2021 Airbotics.

Owner
Airbotics
Open Source Cloud Robotics
Airbotics
Assignment for python course, BUPT 2021.

pyFuujinrokuDestiny Assignment for python course, BUPT 2021. Notice username and password must be ASCII encoding. If username exists in database, syst

Ellias Kiri Stuart 3 Jun 18, 2021
Given an array of integers, calculate the ratios of its elements that are positive, negative, and zero.

Given an array of integers, calculate the ratios of its elements that are positive, negative, and zero. Print the decimal value of each fraction on a new line with places after the decimal.

Shruti Dhave 2 Nov 29, 2021
dragmap-meth: Fast and accurate aligner for bisulfite sequencing reads using dragmap

dragmap_meth (dragmap_meth.py) Alignment of BS-Seq reads using dragmap. Intro This works for single-end reads and for paired-end reads from the direct

Shaojun Xie 3 Jul 14, 2022
Snakemake worflow to process and filter long read data from Oxford Nanopore Technologies.

Nanopore-Workflow Snakemake workflow to process and filter long read data from Oxford Nanopore Technologies. It is designed to compare whole human gen

5 May 13, 2022
All exercises done during the Python 3 course in the Video Course (World 1, 2 and 3)

Python3-cursoemvideo-exercises - All exercises done during the Python 3 course in the Video Course (World 1, 2 and 3)

Renan Barbosa 3 Jan 17, 2022
Rufus port to linux, writed on Python3

Rufus-for-Linux Rufus port to linux, writed on Python3 Программа будет иметь тот же интерфейс что и оригинал, и тот же функционал. Программа создается

6 Jan 07, 2022
Svg-turtle - Use the Python turtle to write SVG files

SaVaGe Turtle Use the Python turtle to write SVG files If you're using the Pytho

Don Kirkby 7 Dec 21, 2022
Simple calculator with random number button and dark gray theme created with PyQt6

Calculator Application Simple calculator with random number button and dark gray theme created with : PyQt6 Python 3.9.7 you can download the dark gra

Flamingo 2 Mar 07, 2022
Gives criticality score for an open source project

Open Source Project Criticality Score (Beta) This project is maintained by members of the Securing Critical Projects WG. Goals Generate a criticality

Open Source Security Foundation (OpenSSF) 1.1k Dec 23, 2022
Find habits that genuinely increase your productivity

BiProductive Description This repository contains the application BiProductive, which analyzes the habits of the person, tests his productivity, and d

Rizvan Iskaliev 43 Jun 11, 2022
Nateve transpiler developed with python.

Adam Adam is a Nateve Programming Language transpiler developed using Python. Nateve Nateve is a new general domain programming language open source i

Nateve 7 Jan 15, 2022
Calculator in command line using python programming language

Calculator in command line using python programming language University of the People Python fundamental Chapter 5 Conditionals and recursion The main

mark sikaundi 3 Dec 09, 2021
General Purpose Python Library by Techman

General Purpose Python Library by Techman

Jack Hubbard 0 Feb 09, 2022
Fetch data from an excel file and create HTML file

excel-to-html Problem Statement! - Fetch data from excel file and create html file Excel.xlsx file contain the information.in multiple rows that is ne

Vivek Kashyap 1 Oct 25, 2021
Tools for teachers and students using nng (Natural Number Game)

nngtools Usage Place your nngsave.json to the directory in which you want to extract the level files. Place nngmap.json on the same directory. Run nng

Thanos Tsouanas 1 Dec 12, 2021
Manjaro CN Repository

Manjaro CN Repository Automatically built packages based on archlinuxcn/repo and manjarocn/docker. Install Add manjarocn to /etc/pacman.conf: Please m

Manjaro CN 28 Jun 26, 2022
Aevsploit İçin Destekde Bulun Papara: 1427113016

Aevsploit İçin Destekde Bulun Papara: 1427113016 Toolu Geliştirmek İçin Fikirlerinizi Bekliyorum Telegram

9 Jun 07, 2022
Commodore 64 OS running on Atari 8-bit hardware

This is the Commodre 64 KERNAL, modified to run on the Atari 8-bit line of computers. They're practically the same machine; why didn't someone try this 30 years ago?

Nick Bensema 133 Nov 12, 2022
A collection of resources on neural rendering.

awesome neural rendering A collection of resources on neural rendering. Contributing If you think I have missed out on something (or) have any suggest

1.8k Dec 30, 2022
Gaia: a chrome extension that curates environmental news of a company

Gaia - Gaia: Your Environment News Curator Call for Code 2021 Gaia: a chrome extension that curates environmental news of a company Explore the docs »

4 Mar 19, 2022