Humanoid RobotLocalization

Humanoid application of Monte Carlo Localization Algorithm using designated keypoints on the soccer field

1. Prerequisite

1.1 Ubuntu and ROS

Ubuntu 64-bit 18.04 or 20.04.
ROS Melodic or Noetic. ROS Installation

1.2 OpenCV

Follow OpenCV Installation

1.3 Others

git clone https://github.com/RobotWebTools/mjpeg_server
sudo apt-get install -y libyaml-cpp-dev
sudo apt-get install -y libeigen3-dev

2. How to use

2.1 Run / Launch nodes

## Detection 
roslaunch zed_wrapper zed.launch
roslaunch darknet_ros darknet_ros.launch
rosrun alice_vision alice_vision_node

## Robot Localization
rosrun robot_localization_pf_landmarks robot_localization_pf_landmarks

## Web streaming
rosrun mjpeg_server mjpeg_server _port:=8080
http://[network ip]:8080/stream?topic=/robot_localization/localization_image

## or just Launch parameterized launch file 
roslaunch robot_localization_pf_landmarks robot_localization.launch mode:=kinematics/PF gui_mode:=on/off/nuc

2.2 Initialize start / restart position

rostopic pub /alice/reposition geometry_msgs/Pose2D {"x: 5.2, y : 3.7, theta : 0.0"}

3. Data to Record

## Input data
rosbag record -O [filename].bag /alice/ideal_body_delta /alice/vision/detected_objects \
                                /heroehs/alice_center_foot_pose /robotis/present_joint_states
## Output data
rosbag record -O [filename].bag /alice/robot_pos