added docker

CMakeLists.txt

@@ -42,9 +42,9 @@ install(PROGRAMS
   DESTINATION lib/${PROJECT_NAME}
 )
 
-# Install launch, rviz and config directories
+# Install launch, rviz, meshes and config directories
 install(DIRECTORY
-  launch config rviz
+  launch config rviz meshes
   DESTINATION share/${PROJECT_NAME}
 )
 

README.md

@@ -2,6 +2,7 @@
 
 My implementation of the particle filter localization algorithm on turtlebot3 using ROS2 Galactic.
 
+Please click on the gIF below to see the youtube video.
 <p align="center">
 <a href="https://youtu.be/lEZGuGSGVvE" target="_blank"><img src="https://media.giphy.com/media/nmNIrkJLIwdxobGSDc/giphy-downsized.gif" alt="Youtube Link" width=30%></a>
 </p>

docker-compose.yml

@@ -0,0 +1,92 @@
+version: "3.9"  # optional since v1.27.0
+services:
+
+    webviz:
+        image: "cruise/webviz:latest" 
+        container_name: netbots-webviz
+        ports:
+            - "8080:8080"
+        networks:
+            netbots:
+                ipv4_address: "172.18.0.2"
+    ros:
+        build:
+            context: .
+            dockerfile: ./netbots-ros/Dockerfile
+        cap_add:
+            - NET_ADMIN
+        devices:
+            - /dev/net/tun:/dev/net/tun
+        container_name: netbots-ros
+        ports: 
+            - "11411:11311"
+            - "9090:9090"
+        image: "net-bots:latest"
+
+        volumes:
+            - ovpn-data:/vpn_ws/
+        depends_on: 
+            - openvpn-udp
+        links: 
+            - "openvpn-udp"
+        networks: 
+            netbots:
+                ipv4_address: "172.18.0.3"
+        command: roscore
+
+    openvpn-udp:
+        cap_add:
+            - NET_ADMIN
+        image: kylemanna/openvpn
+        container_name: netbots-vpn
+        ports:
+            - "1194:1194/udp"
+        restart: always
+        volumes:
+            - ovpn-data:/etc/openvpn
+
+    # openvpn-tcp:
+    #     cap_add:
+    #         - NET_ADMIN
+    #     image: kylemanna/openvpn
+    #     container_name: openvpn-tcp
+    #     ports:
+    #         - "1194:1194/tcp"
+    #     restart: always
+    #     volumes:
+    #         - ./openvpn-data:/etc/openvpn
+    #     command: 'ovpn_run --proto tcp'
+
+        networks: 
+            netbots:
+                ipv4_address: "172.18.0.4"
+
+    nginx:
+        build: 
+            context: .
+            dockerfile: ./netbots-nginx/Dockerfile
+        container_name: netbots-nginx
+        ports: 
+            - "80:80"
+            - "443:443"
+        depends_on: 
+            - webviz
+        links: 
+            - "webviz"
+        networks: 
+            netbots:
+                ipv4_address: "172.18.0.5"
+
+networks: 
+    netbots:
+        name: netbots-network
+        ipam:
+            driver: default
+            config:
+                - subnet: 172.18.0.0/16
+
+volumes:
+    ovpn-data:
+        external: true
+        name: ovpn-data
+

launch/offboard.launch.py

@@ -56,7 +56,7 @@ def generate_launch_description():
         )
 
     return LaunchDescription([
-        # rviz,
+        rviz,
         landmark_detector,
         visualizer,
         core_filter

scripts/landmark_detector.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+from numpy.random.mtrand import f
 import rclpy
 from rclpy.node import Node
 from std_msgs.msg import String
@@ -74,8 +75,8 @@ def scan_callback(self, msg):
                 xc, yc, R = circlefit(cluster)
                 # print(type(xc), type(yc), type(R))
 
-                if 0.065 < R < 0.08: #ideal 0.070744334 m
-
+                if 0.07 < R < 0.079: #ideal 0.070744334 m
+                    self.get_logger().info(f'R: {R}')
                     # self.cone_marker_publisher(-xc,-yc,R,tag)
                     total_landmarks = total_landmarks + 1
                     tag = tag + 1

scripts/visualizer.py

@@ -43,12 +43,14 @@ def cone_marker_publisher(self,xc,yc,R,tag):
         self.marker.header.frame_id = "base_scan"
         self.marker.header.stamp = self.get_clock().now().to_msg()
         self.marker.id = tag
-        self.marker.type = Marker.CYLINDER
+        self.marker.type = Marker.MESH_RESOURCE
+        self.marker.mesh_resource = "package://particle_filter/meshes/Traffic_cone.stl"
+        self.marker.mesh_use_embedded_materials = False
         self.marker.action = Marker.ADD
-        self.marker.scale = Vector3(x=0.15,y=0.15,z=0.4)
+        self.marker.scale = Vector3(x=0.018,y=0.018,z=0.018)
         self.marker.color = ColorRGBA(r=random(1)[0],g=random(1)[0],b=random(1)[0],a=1.0)
-        self.marker.pose= Pose(position = Point(x=float(xc),y=float(yc),z=float(0)), orientation = Quaternion(x=float(0),y=float(0),z=float(0),w=float(1)))
-        self.marker.lifetime = Duration(sec = 2,nanosec=0)
+        self.marker.pose= Pose(position = Point(x=float(xc),y=float(yc),z=float(-0.175)), orientation = Quaternion(x=float(0),y=float(0),z=float(0),w=float(1)))
+        self.marker.lifetime = Duration(sec = 1,nanosec=0)
         self.landmarks_marker_pub.publish(self.marker)
         # print(f'cone marker published for tag {tag}')
 
@@ -93,8 +95,8 @@ def outlier_marker_publisher(self,outliers):
             self.marker.type = Marker.SPHERE
             self.marker.action = Marker.ADD
             self.marker.scale = Vector3(x=0.02,y=0.02,z=0.02)
-            self.marker.color = ColorRGBA(r=random(1)[0],g=random(1)[0],b=random(1)[0],a=1.0)
-            self.marker.color = ColorRGBA(r=0.0,g=1.0,b=0.0,a=1.0)
+            # self.marker.color = ColorRGBA(r=random(1)[0],g=random(1)[0],b=random(1)[0],a=1.0)
+            self.marker.color = ColorRGBA(r=105.0,g=105.0,b=105.0,a=0.5)
             # self.marker.pose= Pose(position = Point(x=float(0),y=float(0),z=float(0)), orientation = Quaternion(x=float(0),y=float(0),z=float(0),w=float(1)))
             self.marker.pose.position = outliers[i]
             self.marker.pose.position.z = 0.05