raclover/ros-noetic-mobile-robot

RDF descriptions of a mobile robot with a manipulator, leader, localization algorithm (amcl), mapping algorithm, algorithm for autonomous following to a given point (move_base) and with Camera and ultrasonic

YOUR_REPO_NAME

Project Description

This repository contains the RDF descriptions of a mobile robot equipped with a manipulator arm. The robot features a suite of navigation and localization algorithms including:

• Localization: Adaptive Monte Carlo Localization (amcl)
• Mapping: An algorithm for generating maps of the environment
• Autonomous Navigation: move_base for autonomous following to given points
• Sensors: Equipped with a camera and ultrasonic sensors for perception

This setup is designed for research and development in robotics, offering a comprehensive platform for testing and deploying robotic applications.

Installation

To use this project, you need to have ROS (Robot Operating System) installed on your system, along with a catkin workspace set up. Follow these steps to get started:

1. Navigate to your catkin workspace:

   cd ~/catkin_ws/

2. Build the project using catkin_make:

   catkin_make

   This will compile all the necessary ROS packages and nodes for the project.

Running the Project

To launch the simulation and start the robot, use the following commands:

1. Launch the robot in Gazebo:

   roslaunch mobile_robot gazebo.launch

2. In a new terminal, launch the move_base node for autonomous navigation:

   roslaunch mobile_robot move_base.launch

3. To send goals to the robot, use:

   rosrun mobile_robot send_goals

Visualization

Robot in Gazebo

This image shows the robot in the Gazebo simulation environment, where you can test the robot's physical properties and interactions with the world.

Robot in RViz

Additional RViz View:

Here, the robot is visualized in RViz, allowing for detailed observation of sensor data, navigation paths, and the overall state of the robot in a simulated environment.

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We hope this project serves as a valuable tool for your robotics research and development. Happy coding!