BeSpoon Localization in ROS

Launch BeSpoon package

Copy the package to ros workspace directory and start the launcher

# Move to ROS workspace directory 
catkin_make  
source devel/setup.bash 
# launch bespoon localization setup 
roslaunch bespoon bespoon.launch  

bespoon.launch will do following

• Launch BeSpoon Tracker (Java), (topic: bespoon)
• Launch ROS marker visualizer for BeSpoon tags & anchor (topic: visualization_marker_array)
• Launch Simple coordinate navigation goal publisher, (topic: simple_coord_nav_goal)
• Launch Simple coordindate publisher, (topic: simpleRosLocation, simpleBeSpoonLocation)

Check publish data:

Example:

rostopic echo bespoon 
rostopic echo simpleRosLocation
rostopic echo simpleBeSpoonLocation 
# check type of topic 
rostopic info simpleRosLocation 

Send a simple navigation goal:

Example: use xy coordinates based on our customized XY Scale

rostopic pub -1 simple_coord_nav_goal geometry_msgs/Pose '{position : { x: 0, y: 0, z: 0}, orientation: {x: 0, y: 0, z: 0, w: 0}}'

Coordinate conversion:

Run the following script

python my_cord_converter.py

Simple XY coordindate:

You can set ROS scale factor in module cord_transform.py by changing constants: simple_xy_scale_factor, bespoon_plane_angle_with_ros_plane, bespoon_center_in_ros_plane, ros_axis_scale_factor
Default it is centered in ROS map center (0,0) and x-axis aligned.

Ex:
cord_transform.simple_xy_scale_factor=0.20

BeSpoonTracker Config

Add the location of BeSpoonTracker.jar and bespoon.propteries in launcher (bespoon.launch)

<env name="BESPOON_PROP_FILE" value="$(find bespoon)/bespoon.properties" />
<env name="BESPOON_JAR_FILE" value="$(find bespoon)/bespoon.jar" />

Evaluate ROS and BeSpoon Simple location

rosrun bespoon benchmark.py