Project based on ETHZ 4 wheel Super Mega Bot (SMB) applications [link]
Autonomous Mobile Robot (AMR) Project, implemented by Robson Rogério Dutra Pereira (rrdpereira) [link], for CCO - 728 - Autonomous Mobile Robot (Robôs Móveis Autônomos) course of PPGCC UFSCAr [link]
| Operational System | Ubuntu 20.04 |
|---|---|
| ROS |  |
| Gazebo | Gazebo multi-robot simulator - version 11.13.0 |
Features
- Mobile robot
- 2D LiDAR
This package was implemented on Linux Ubuntu 20.04 Focal Fossa [link] distribution using ROS1 Noetic Ninjemys [link]. The installation of the necessary ROS Noectic packages can be done with following bash command:
sudo apt-get install ros-noetic-amcl ros-noetic-costmap-converter ros-noetic-depthimage-to-laserscan ros-noetic-dynamic-reconfigure ros-noetic-ddynamic-reconfigure ros-noetic-ddynamic-reconfigure-dbgsym ros-noetic-ddynamic-reconfigure-python ros-noetic-geometry2 ros-noetic-hector-slam ros-noetic-move-base ros-noetic-move-base-flex ros-noetic-navigation ros-noetic-openslam-gmapping ros-noetic-rplidar-ros ros-noetic-slam-gmapping ros-noetic-spatio-temporal-voxel-layer ros-noetic-teb-local-planner ros-noetic-teleop-twist-keyboard ros-noetic-teleop-twist-joy ros-noetic-urg-node ros-noetic-rtabmap ros-noetic-rtabmap-ros ros-noetic-octomap ros-noetic-octomap-ros ros-noetic-octomap-rviz-plugins ros-noetic-octomap-server ros-noetic-octovis ros-noetic-imu-filter-madgwick ros-noetic-robot-localization ros-noetic-robot-pose-ekf ros-noetic-pointcloud-to-laserscan ros-noetic-rosbridge-server ros-noetic-map-server ros-noetic-realsense2-camera ros-noetic-realsense2-description ros-noetic-cmake-modules ros-noetic-velodyne-gazebo-plugins ros-noetic-ompl ros-noetic-navfn ros-noetic-dwa-local-planner ros-noetic-global-planner ros-noetic-costmap-2d ros-noetic-robot-self-filter ros-noetic-ros-numpy ros-noetic-pcl-ros ros-noetic-pcl-conversions ros-noetic-grid-map-costmap-2d ros-noetic-grid-map-ros ros-noetic-grid-map-filters ros-noetic-grid-map-visualization ros-noetic-tf2-tools pcl-tools python3-vcstool python3-catkin-tools python3-catkin-lint python3-pip python3-rosdep ros-noetic-gazebo-plugins ros-noetic-hector-gazebo ros-noetic-hector-gazebo-pluginsAfter that, it is necessary to clone the project inside a catkin workspace. If there isn't a catkin workspace, you can create by this tutorial [link], or you can create using the following bash steps:
# source ROS1 Noetic
source /opt/ros/noetic/setup.bash
# create the directories
mkdir -p /home/$USER/catkin_workspace/src
cd /home/$USER/catkin_workspace/
# initilize the catkin workspace
catkin init
catkin config --extend /opt/ros/noetic
catkin config -DCMAKE_BUILD_TYPE=Release
# navigate to the directory of src to clone SuperMegaBot_SMB project
cd /home/$USER/catkin_workspace/src
git clone https://github.com/rrdpereira/SuperMegaBot_SMB.git
# build the project
cd /home/$USER/catkin_workspace/
catkin build
# source your catkin worksapce
source /home/$USER/catkin_workspace/devel/setup.bash
# (optinal) may you found some errors, so you can use the "Magic" of rosdep
cd /home/$USER/catkin_workspace/src
rosdep install --from-paths . --ignore-src --os=ubuntu:focal -r -y
cd /home/$USER/catkin_workspace/
catkin build
# source your catkin worksapce
source /home/$USER/catkin_workspace/devel/setup.bashTo run the teleoperation mode of simulation without map:
roslaunch smb_gazebo smbTelNoMap.launchYou can watch the running teleoperation mode without map demonstration by the Youtube link [link], and the preview by the following screenshots:
To run the teleoperation mode of simulation with map:
roslaunch smb_gazebo smbTelMap.launchYou can watch the running teleoperation mode with map demonstration by the Youtube link [link], and the preview by the following screenshots:
To run the mapping mode of simulation with Gmapping [link] package:
roslaunch smb_gazebo smbMapG.launchIn another terminal launch the teleoperion:
roslaunch smb_gazebo smbTel.launchIn another terminal launch the map saver:
cd /home/$USER/catkin_workspace/src/SuperMegaBot_SMB/smb_gazebo/bash
watch -n 10 ./map_datehour.shYou can watch the running mapping mode demonstration by the Youtube link [link], and the preview by the following screenshots:
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After you finished mapping, go to 2D_maps folder:
cd /home/$USER/2D_mapsAnd select the best map among the others, like to the following screenshots 📷:
Copy map name, our case is:
/home/$USER/2D_maps/mob_robM_2023_04_03__02_14_58.pgm
/home/$USER/2D_maps/mob_robM_2023_04_03__02_14_58.yamlFinally, change map name on map_server node of the smbAut.launch and smbTelMap.launch launcher files:
<!-- **************** Maps **************** -->
<node name="map_server" pkg="map_server" type="map_server" args="$(find smb_gazebo)/maps/mob_robM_2023_04_03__02_14_58.yaml" output="screen">
<param name="frame_id" value="map"/>
</node>To run the autonomous mode of simulation with Navigation Stack [link] package:
roslaunch smb_gazebo smbAut.launchYou can watch the running autonomous mode demonstration by the Youtube link [link], and the preview by the following screenshots:
