fix localization bug

Author: SimonKennethRobo

.gitignore

@@ -5,4 +5,6 @@ logs/
 build/
 
 .catkin_tools
-abseil-cpp
+abseil-cpp
+
+**__pycache__**

README.md

@@ -15,19 +15,19 @@ If you have any questions, please feel free to contact us: [smkk00715@gmail.com]
 ## Features
 
 - SLAM
-  - [x] Cartographer
-  - [x] Fast-LIO2
-  - [x] Map Fusion
+  - [X] Cartographer
+  - [X] Fast-LIO2
+  - [X] Map Fusion
 - Planning and Control (PnC)
-  - [x] A\*
-  - [x] Theta\*
-  - [x] DWA
-  - [x] TEB
-  - [x] Model Predictive Control (MPC)
+  - [X] A\*
+  - [X] Theta\*
+  - [X] DWA
+  - [X] TEB
+  - [X] Model Predictive Control (MPC)
 - Perception: EasyOCR
 - Decision and Exploration
-  - [x] Finite State Machine (FSM)
-  - [x] Frontier and occupancy grid map-based exploration
+  - [X] Finite State Machine (FSM)
+  - [X] Frontier and occupancy grid map-based exploration
 - Pipeline: Highly modular, automated, and configurable
 
 ## Structure
@@ -90,7 +90,6 @@ catkin config -DPYTHON_EXECUTABLE=/usr/bin/python3 -DCMAKE_BUILD_TYPE=RelWithDeb
   ```shell
   ~/me5413_final_ws/src/third_party/cartographer/cartographer/scripts/install_abseil.sh
   ```
-
 - Build:
 
   ```shell
@@ -117,7 +116,7 @@ echo "source ~/me5413_final_ws/devel/setup.bash" >> ~/.bashrc
 bash
 ```
 
-### Prepare perception packages (optional)
+### 3. Prepare perception packages (optional)
 
 Please install `conda` first.
 
@@ -170,7 +169,6 @@ roslaunch me5413_world me5413_world.launch
   <p align="center">
       <img src="final_slam/maps/carto_map_2d.png" alt="carto_map" width="30%">
   </p>
-
 - **Fast-LIO**
 
   ```shell
@@ -211,7 +209,6 @@ roslaunch me5413_world me5413_world.launch
     <p align="center">
         <img src="final_slam/maps/fast_lio_map.png" alt="fast_lio_map" width="30%">
     </p>
-
 - **Map Fusion**
 
   To fully utilize the maps generated both by Cartographer and Fast-LIO, we provide a simple Python script that uses image processing methods to fuse these two high-quality maps into one. To perform this, execute:

install.sh

@@ -16,8 +16,10 @@ git clone https://github.com/gpakosz/.tmux.git
 ln -s -f .tmux/.tmux.conf
 cp .tmux/.tmux.conf.local .
 tmux source-file ~/.tmux.conf
-echo "set -g mouse on" >>~/.tmux.conf
-echo "tmux_conf_copy_to_os_clipboard=true" >>~/.tmux.conf
+sed -i '1i\
+set -g mouse on' ~/.tmux.conf.local
+sed -i '1i\
+tmux_conf_copy_to_os_clipboard=true' ~/.tmux.conf.local
 
 echo 'alias rosk="rosnode kill -a ; killall -9 roscore rosmaster gzserver gazebo rviz rqt rqt_tf_tree rqt_graph rqt_reconfigure"
 alias gazebok="pkill -P $(pgrep -f gazebo.launch) ; pkill -9 gzserver ; pkill -9 gzclient"

src/final_pnc/temp/curr_params_log.json

@@ -1,5 +1,5 @@
 {
-    "time": "2024-04-13 17:04:16",
+    "time": "2025-04-04 19:55:55",
     "method": "mpc",
     "map_frame": "map",
     "ref_path_topic": "/move_base/TrajectoryPlannerROS/global_plan",

src/final_slam/launch/localization_carto.launch

@@ -17,6 +17,8 @@
 
   <group unless="$(arg enable_ekf)">
     <node pkg="final_slam" type="get_gt_odom.py" name="get_gt_odom" output="screen" />
+    <node pkg="tf2_ros" type="static_transform_publisher" name="map2odom"
+      args="0 0 0 0 0 0 map odom" />
   </group>
 
   <!-- Launch Cartographer -->