Experimental Robotics Laboratory - Assignment 2 ROS PLANNING AND SLAM

In this project a mobile robot is planned to visit 4 waypoints in the Gazebo world, And goes to the waypoint with the Aruco-marker that has smallest id. It uses PlanSys2 for planning, Navigation2 for navigation, and detection of Aruco markers using the ros2 Aruco library.

This project is developed by:

1. Mehdi Raza Khorasani - s6164555
2. Ouassim Milous - s5938924
3. Younes Hebik - s5813030
4. Ozan Pali - s5831146

Demo

Watch our demo video below:

Dependencies

1. PlanSys2: - PlanSys2 GitHub Repository

2. Slam Toolbox - Slam Toolbox Github Repository

3. Navigation2 - Navigation2 Github Repository

4. Aruco: - OpenCV Aruco Marker Tracking GitHub Repository

Installation

docker-compose.yaml file is going to be used to build the environment.

• First of all create a folder in your local machine to be mounted inside docker container

mkdir docker

• Create the workspace for the project

cd docker
mkdir -r ros_ws/src
cd ros_ws/src

• Clone the packages required for the project inside src folder

git clone https://github.com/OuassimMilous/ERL-assignment2-ROS-PLANNING-AND-SLAM
git clone https://github.com/SteveMacenski/slam_toolbox/tree/humble
git clone https://github.com/carmineD8/ros2_aruco
git clone https://github.com/PlanSys2/ros2_planning_system/tree/humble-devel

• Build container with the yaml file inside folder that you created(docker)

mv /ERL-assignment2-ROS-PLANNING-AND-SLAM/docker-compose.yaml ../../../
mv /ERL-assignment2-ROS-PLANNING-AND-SLAM/env-setup.sh ../../../
cd ../../../
docker compose up -d

• Start the container and do the next instructions inside container

docker exec -it exp-assignment-2 bash

• Install the navigation package with apt

apt update
cd /data
chmod +x env-setup.sh
./env-setup.sh

• Install the dependencies of the packages and build your workspace

cd /data/ros_ws
colcon build

Running the project

• In the first terminal: Source your workspace and launch the required python file

ros2 launch autonomous_planner assignement2_launch.py

• In the new terminal: Source your workspace and start the action server node

ros2 run autonomous_planner controller_node 

Note: For the move action and the controller node were inspired by ros2_planning_system_examples repository of PlanSys2 Click to see utilized part