Agilex Scout V2 Localization Library

This repository provides examples and tools for localizing the Agilex Scout V2 robot in a ROS environment. It demonstrates sensor fusion of wheel odometry, visual odometry, GPS, and IMU measurements to achieve enhanced localization accuracy.

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Prerequisites

Ensure the following dependencies are installed before proceeding:

ROS Noetic

This repository developed for ROS Noetic

• Ros Noetic Installation

ROS Dependencies

Make sure the following ROS packages are installed for ROS Noetic:

sudo apt-get install ros-noetic-roslaunch \
                     ros-noetic-roslint \
                     ros-noetic-roscpp \
                     ros-noetic-std-msgs \
                     ros-noetic-sensor-msgs \
                     ros-noetic-geometry-msgs \
                     ros-noetic-tf2 \
                     ros-noetic-tf2-ros \
                     ros-noetic-nav-msgs \
                     ros-noetic-tf \
                     ros-noetic-velocity-controllers \
                     ros-noetic-robot-localization \
                     ros-noetic-rqt-multiplot \
                     ros-noetic-hector-gazebo-plugins \
                     ros-noetic-cv-bridge \
                     ros-noetic-image-transport \
                     ros-noetic-xacro \
                     ros-noetic-robot-state-publisher \
                     ros-noetic-gazebo-plugins \
                     ros-noetic-joint-state-publisher \
                     ros-noetic-gazebo-ros-control

System Dependency

Install the required library for configuration management:

sudo apt-get install libconfig++-dev

Installation

Follow these steps to set up and configure the workspace:

Clone and Build

git clone https://github.com/mvu20002/scout_localization.git
cd scout_localization
catkin_make

Source the Workspace

Add the workspace setup script to your shell configuration for convenience:

echo "source ~/scout_localization/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

Additional Repository

Clone the required repository into your workspace under the src directory:

• Clearpath Robotics CPR Gazebo

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Verify Directory Structure

Ensure your workspace structure matches the following layout:

.
├── README.md
└── src
    ├── CMakeLists.txt -> /opt/ros/noetic/share/catkin/cmake/toplevel.cmake
    ├── cpr_gazebo
    ├── intro_to_robot_autonomy
    ├── mono-slam
    ├── scout_odometry
    └── ugv_sim

6 directories, 2 files

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Examples

1. IMU + Wheel Odometry + GPS

To launch localization using IMU, wheel odometry, and GPS:

roslaunch intro_to_robot_autonomy term_project.launch

When you execute the command above, Gazebo and rqt_multiplot will open, allowing you to track the localization results in real time.

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If you encounter any issues, feel free to check your setup and ensure all prerequisites are correctly installed.