ABot

ABot is a differential drive mobile robot based on Robot Operating System (ROS). Its tested on Ubuntu 18.04 with ROS Melodic and Ubuntu 20.04 with ROS Noetic

Capabilities:

Manual teleop control.
SLAM with Gmapping using teleop and explore_lite.
Goal Point Navigation using dwa_local_planner and teb_local_planner.
Coverage Planning with Boustrophedon Decomposition.
Configured Behavior Tree
Added Intel Realsense D435
RTAB-Map
Add GPS
Add manipulator arm

Use ABot

To run the ABot simulation in Gazebo, clone the package in your catkin workspace, and use the launch file below.

    cd ~/catkin_ws/src
    git clone https://github.com/KamalanathanN/abot.git
    cd ~/catkin_ws
    catkin_make
    source devel/setup.bash

Launch ABot in Gazebo

    roslaunch abot_gazebo robot_house_gazebo.launch

ABot Simulation Model

ABot Gmapping using teleop

    roslaunch abot_slam abot_gmapping.launch
    roslaunch abot_teleop abot_teleop_key.launch

ABot Gmapping with explore_lite

    sudo apt install ros-noetic-explore-lite

    roslaunch abot_slam abot_gmapping.launch
    roslaunch abot_navigation move_base.launch
    roslaunch explore_lite explore.launch

ABot Navigation in Gazebo and Rviz

By default navigation uses dwa_local_planner with argument TEB:=true loads teb_local_planner.

Read if using teb_local_planner

The default teb_local_planner pkg did not show goal reached success. Due to this multi goal sequence was not possible. Temporary fix is to remove the installed teb_local_planner and clone this modified repo : https://github.com/KamalanathanN/teb_local_planner inside the workspace.

    roslaunch abot_navigation abot_navigation.launch

ABot Path Coverage implementation with Boustrophedon Decomposition

    roslaunch abot_path_coverage abot_path_coverage.launch

Abot Behavior Tree Demo

Below is a simple goal points looping behaviour tree with an interrupt action to go to charge port location.

In future, interrupt action can be used by battery monitoring node to perform auto charge behavior.
Also planning to include camera feedback actions like object detection for other exiting behaviors :)

Runtime Behahivor Tree monitoring with Groot

abot_BT.mp4

Run the below commands in seperate terminals after launching robot_house_gazebo.launch and abot_navigation.launch

    rosrun groot Groot # select Monitor option and Start

    roslaunch abot_behavior_tree goal_points_looping.launch

Notice the STATE of each node in tree gets highlighted with Cyan(IDLE) Yellow(RUNNING) Green(SUCCESS) Red(FAILURE)

To provide interrput

    rostopic pub /interrupt_event std_msgs/String "data: 'Charge_port'"

ABot RTAB-Map

Install and setup RTAB-Map from this link
Clone the realsense gazebo plugin to your workspace's /src and catkin_make

    git clone https://github.com/pal-robotics/realsense_gazebo_plugin

Run the below commands in seperate terminals after launching robot_house_gazebo.launch

Mapping

    roslaunch abot_rtabmap rtab_minimal.launch args:="--delete_db_on_start"

Make sure to give proper save path for rtabmap.db inside launch file.
Make sure your world is not monotonous, have good textural variances in walls and have variety of objects.
Use teleop_twist_keyboard or explore_lite for map creation.
To save the map just close the terminal running the mapping node : ctrl+c

Navigation

First load the rtabmap.db in localization mode:

    roslaunch abot_rtabmap rtab_minimal.launch localization:=true

Now launch the navigation with desired local planner:

    roslaunch abot_navigation abot_navigation_rtabmap.launch TEB:=true

References

path_coverage_ros

Groot with ROS

Contributions

Your contributions are most welcomed.