ME5413_Final_Project_Group_21

NUS ME5413 Autonomous Mobile Robotics Final Project - Group 21

Dependencies

• System Requirements:
  • Ubuntu 20.04 (18.04 not yet tested)
  • ROS Noetic (Melodic not yet tested)
  • C++11 and above
  • CMake: 3.0.2 and above
• This repo depends on the following standard ROS pkgs:
  • roscpp
  • rospy
  • rviz
  • std_msgs
  • nav_msgs
  • geometry_msgs
  • visualization_msgs
  • tf2
  • tf2_ros
  • tf2_geometry_msgs
  • pluginlib
  • map_server
  • gazebo_ros
  • jsk_rviz_plugins
  • jackal_gazebo
  • jackal_navigation
  • velodyne_simulator
  • teleop_twist_keyboard
• And this gazebo_model repositiory

Installation

This repo is a ros workspace, containing three rospkgs:

• interactive_tools are customized tools to interact with gazebo and your robot
• jackal_description contains the modified jackal robot model descriptions
• me5413_world the main pkg containing the gazebo world, and the launch files
• costmap_prohibition_layer the main pkg containing the function to create prohibited areas
• robot_nav the main pkg containing the navigation stack
• slam_toolbox one of the pkgs to perform SLAM

To install this package, follow the following steps

# Clone your own fork of this repo (assuming home here `~/`)
cd
git clone https://github.com/Jimmy291/ME5413_Final_Project.git
cd ME5413_Final_Project/src

# Clone the repo for SLAM Toolbox (for noetic), for other ros version, change the branch
git clone -b noetic-devel https://github.com/SteveMacenski/slam_toolbox

# Clone the repo for costmap prohibition layer
git clone git@github.com:rst-tu-dortmund/costmap_prohibition_layer.git
cd ..

# Install all dependencies
rosdep install --from-paths src --ignore-src -r -y

# Build
catkin_make
# Source 
source devel/setup.bash

To properly load the gazebo world, you will need to have the necessary model files in the ~/.gazebo/models/ directory.

There are two sources of models needed:

• Gazebo official models

  # Create the destination directory
  cd
  mkdir -p .gazebo/models
  
  # Clone the official gazebo models repo (assuming home here `~/`)
  git clone https://github.com/osrf/gazebo_models.git
  
  # Copy the models into the `~/.gazebo/models` directory
  cp -r ~/gazebo_models/* ~/.gazebo/models

• The customized models

  # Copy the customized models into the `~/.gazebo/models` directory
  cp -r ~/ME5413_Final_Project/src/me5413_world/models/* ~/.gazebo/models

Usage

0. Gazebo World

This command will launch the gazebo with the project world

# Launch Gazebo World together with our robot
roslaunch me5413_world world.launch

1. Mapping

Several methods of mapping are used, do relaunch Step 0 after every instance of mapping

1.1 SLAM Toolbox

After launching Step 0, in the second terminal:

# Launch SLAM Toolbox's Karto SLAM
roslaunch me5413_world STmap.launch

After finishing mapping, run the following command in the thrid terminal to save the map:

# Save the map as `my_map` in the `maps/` folder
roscd me5413_world/maps/
rosrun map_server map_saver -f my_map map:=/map

1.2 GMapping

After launching Step 0, in the second terminal:

# Launch SLAM Toolbox's Karto SLAM
roslaunch me5413_world mapping.launch

After finishing mapping, run the following command in the thrid terminal to save the map:

# Save the map as `my_map` in the `maps/` folder
roscd me5413_world/maps/
rosrun map_server map_saver -f my_map map:=/map

2. Robot navigation

2.1. Manual Control

If you wish to explore the gazebo world a bit, we provide you a way to manually control the robot around:

# Only launch the robot keyboard teleop control
roslaunch me5413_world manual.launch

Note: This robot keyboard teleop control is also included in all other launch files, so you don't need to launch this when you do mapping or navigation.

2.2. Autonomous Navigation

Once completed Step 1 mapping and saved your map, quit the mapping process.

Then, in the second terminal:

# Load the map and launch the navigation stack
roslaunch robot_nav nav.launch

The right panel allow you to choose the desired goal location of the robot.

The ME5413_Final_Project is released under the MIT License