sauk2/me5413_final_project

NUS ME5413 Autonomous Mobile Robotics Final Project

ME5413_Final_Project_Grouop_2

NUS ME5413 Autonomous Mobile Robotics Final Project

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
  • tf
  • 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 eight rospkgs:

• me5413_world the main pkg containing the gazebo world, and the launch files
• me5413_perception pkg for perception part and exploration part of project
• me5413_mapping pkg for hector SLAM
• velodyne_simulator velodyne LiDAR with GPU acceloration
• laserscan_merger merge front 2D LiDAR and rear 2D LiDAR
• interactive_tools are customized tools to interact with gazebo and your robot
• jackal_description contains the modified jackal robot model descriptions
• A-LOAM pkg for A-LOAM SLAM

After forking this repo to your own github:

# Clone your own fork of this repo (assuming home here `~/`)
cd
git [email protected]:sauk2/ME5413_Final_Project_Group_2.git
cd ME5413_Final_Project_Group_2
git submodule init
git submodule update

# Install all dependencies
rosdep install --from-paths src --ignore-src -r -y
pip3 install -r requirements.txt

# 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

• Our customized models

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

Usage

1. Launch Gazebo world

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

2. Launch Navigation

After launching step 1 in a separate terminal

Launches Navigation for the robot

roslaunch me5413_world navigation.launch

Can choose which production line to go to in Rviz

3. Perception & Exploration

After launching step 2 in a separate terminal

Lauch perception and Exploratino for the Robot

roslaunch me5413_perception exploration.launch

Contribution

You are welcome contributing to this repo by opening a pull-request

We are following:

• Google C++ Style Guide,
• C++ Core Guidelines,
• ROS C++ Style Guide

License

The ME5413_Final_Project is released under the MIT License