Agilex-Scout-Mini-Gazebo-Navigation

ROS Navigation Stack with AgileX SCOUT-mini Gazebo Simulator

Implementation of Autonomous Driving System with AgileX SCOUT-mini gazebo simulator

0. Install the Gazebo software

Gazebo is a robot simulator. Gazebo simulates multiple robots in a 3D environments, with extensive dynamic interaction between objects.

Gazebo Download Link : http://gazebosim.org

Download and install gazebo. You can go to the website : http://gazebosim.org/install

1. Installation

1. Development Environment ubuntu 20.04 + ROS Noetic desktop full

2. Build ROS packages for Scout simulator

   • Create worksapce, download ROS packages

   mkdir -p ~/scout_ws/src
   cd ~/scout_ws/src
   git clone --recurse-submodules https://github.com/hjinnkim/Agilex-Scout-Mini-Gazebo-Navigation.git
   

3. Install required ROS packages

   cd Agilex-Scout-Mini-Gazebo-Navigation
   sh install_packages.sh
   

   Gmapping, Navigation, Robot_localization packages will be downloaded

4. Install dependencies and build

   cd ~/scout_ws
   rosdep install --from-paths src --ignore-src -r -y
   catkin_make
   

   rosdep install command will automatically install the required dependencies for the packages in the workspace. The dependencies are listed in CMakeLists.txt file in the packages.

2. Usage

1. Display platform description in RVIZ

   cd ~/scout_ws
   source devel/setup.bash
   roslaunch scout_description display_scout_mini.launch 
   

   This will show you default vehicle platform without additional sensors.

2. Launch gazebo simulator and teleop control

   a. Launch gazebo simulator

   cd ~/scout_ws
   source devel/setup.bash
   roslaunch scout_gazebo_sim scout_mini_empty_world.launch
   

   b. Run teleop controller (move: w, a, x, d / stop: s)

   //Open another terminal
   
   cd ~/scout_ws
   source devel/setup.bash
   roslaunch scout_teleop scout_teleop_key.launch 
   

3. 2D SLAM

Before running any command below, source devel/setup.bash

0. Run Simulator

   roslaunch scout_gazebo_sim scout_mini_playpen.launch
   

1. Odometry & Kalman Filter Localization

   roslaunch scout_base scout_mini_base.launch
   

   roslaunch scout_filter ekf_filter_cmd.launch
   

2. SLAM mapping

   a. Gmapping

   // Run gmapping slam
   roslaunch scout_slam scout_slam.launch
   

   b. Drive & mapping

   // Drive via teleop
   roslaunch scout_teleop scout_teleop_key.launch
   

   c. Save map

   // Save map
   roslaunch scout_slam gmapping_save.launch
   

   • default map file name: map1
   • map file will be saved in "scout_bringup/scout_slam/maps"
   • you can change saved map file name in the launch file
   • or you can set file name

     roslaunch scout_slam gmapping_save.launch map_file:=(file name)
     

3. 2D Navigation

Before running any command below, source devel/setup.bash

0. Run Simulator

   roslaunch scout_gazebo_sim scout_mini_playpen.launch
   

1. Odometry & Kalman Filter Localization

   roslaunch scout_base scout_mini_base.launch
   

   roslaunch scout_filter ekf_filter_cmd.launch
   

2. Navigation

   // Run navigation
   roslaunch scout_navigation scout_navigation.launch
   

   you can set the destination via "2D Nav Goal" button

Simulator Examples

Sensor settings

• Please refer sensor directory

References

• agilexrobotics/scout_ros github repo