thesis_ws

Repository of the work developed in my thesis in FCT/UNL

Overview

This is a ROS package that joins people detection into the navigation process.

Download the packages in src folder.
Install dependencies specified in grid_map and spencer_people_tracking packages.
Install libsvm.
```
  sudo apt-get install libsvm-*
```

Install lms1xx.

  sudo apt-get install ros-kinetic-lms1xx

Install ROS multimaster_launch.

  sudo apt-get install ros-kinetic-multimaster-*

Install interactive_markers twist server.

  sudo apt-get install ros-kinetic-interactive-marker-*

Install twist mux.

  sudo apt-get install ros-kinetic-twist-mux

Install robot-pose-ekf.

  sudo apt-get install ros-kinetic-robot-pose-ekf

Install AMCL localization package.
```
  sudo apt-get install ros-kinetic-amcl
```

Install SLAM Gmapping.

  sudo apt-get install ros-kinetic-gmapping

Install Navigation package.

  sudo apt-get install ros-kinetic-navigation

Install grid_map package.

  sudo apt-get install ros-kinetic-grid-map
  sudo apt-get install ros-kinetic-grid-map-*

Install gazebo plugins.

  sudo apt-get install ros-kinetic-hector-gazebo-plugins

Install spencer_people_tracking.

  sudo apt-get install ros-kinetic-spencer-people-tracking-full

Or just give the script in /thesis/scripts folder permissions and run it.
```
chmod +x install_dependencies.sh
sudo ./install_dependencies.sh
```

Export gazebo models in ~/.bashrc.

export GAZEBO_MODEL_PATH=<your_path>/models:$GAZEBO_MODEL$

Launch the simulated world and jackal descriptions and controls.
```
  roslaunch human_aware_navigation world.launch
```

Launch mapping.

  roslaunch human_aware_navigation mapping.launch

Launch navigation, people detection and this thesis middleware.
```
  roslaunch human_aware_navigation bringup.launch
```

The labeled map image need to be oriented as you want it to be read. You can see the examples for orientation.