/Webots-SummitXL

Autonomous exploration and obstacle avoidance with the Mecanum wheel robot

Primary LanguageC++

Webots-SummitXL

Autonomous exploration and obstacle avoidance with the Mecanum wheel robot

Environment version

System environment:

  • Ubuntu 20.04 LTS
  • ROS2 FOXY
  • Webots R2022a

The components of the system

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The software framework for this project is divided into five main components which relate to each other as shown in the following diagram

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Implementation

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Download git files

It is best to put the whole folder under the /home/[your computer name] directory

cd ~
git clone --depth=1 https://github.com/MistyMoonR/Webots-SummitXL.git
cd Webots-SummitXL

Webots-SummitXL file structure

├── README.md
├── scripts
│   ├── cartographer-explore.sh
│   ├── gmapping-explore.sh
│   ├── environmental-install.sh
│   └── ros2+webots-install.sh
└── workspace
    ├── explore
    │   └── explore_lite
    ├── localization
    │   ├── kalman_filter_localization
    │   └── gmapping
    ├── map_2D
    │   ├── cartographer
    │   ├── map_2D_master
    │   ├── pointcloud_to_laserscan
    ├── map_3D
    │   ├── lio_sam
    │   └── octomap
    ├── navigation
    └── simulator

The data structures and algorithms used by the system

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Workspace file description:

  • explore Exploration algorithm
  • localization Kalman filter localization
  • map_2D Two-dimensional mapping
  • map_3D Three-dimensional mapping
  • navigation navigation
  • simulator webots simulator

Scripts file description

ros2+webots-install.sh Install ros2 + webots and some tools
environmental-install.sh Install the environment

gmapping-explore.sh Autonomous exploration software using gmapping's map
cartographer-explore.sh Autonomous exploration software using cartographer's map

First run requires chmod +x, with LF at the end of the line

ROS2 FOXY + Webots R2022a and environment installation

ROS2 + Webots installation script:
ros2+webots-install.sh
Contains ros-foxy webots2022a terminator curl vim

Environment installation script:
environmental-install.sh
Contains webots_ros2 robot-localization navigation2 gtsam cartographer octomap

cd ~/Webots-SummitXL
./scripts/ros2+webots-install.sh
./scripts/environmental-install.sh

Webots manual installation Webots R2022a (Github)

Compile

cd ~/Webots-SummitXL/workspace
colcon build

If the compilation fails, check for missing packages and compile again

Run

Two scripts are provided to run the program.
Gmapping: gmapping-explore.sh
Cartographer: cartographer-explore.sh

Manual operation

# Launching simulator
ros2 launch simulator robot.launch.py

# Launch 2D map
########## Choose one of the following ##########
# (1) Gmapping (outdoor with GPS)
ros2 launch slam_gmapping slam_gmapping.launch.py

# (2) Cartographer (indoor without GPS)
ros2 launch cartographer cartographer.launch.py
##################################################

# Launch navigation and exploration
ros2 launch navigation nav2.launch.py
ros2 launch explore_lite explore.launch.py

# Launch 3D map (Optional)
ros2 launch lio_sam run.launch.py

# Robot keyboard control (Optional)
ros2 run simulator keyboard

If it doesn't work, check the environment variables in the .bashrc file

source ~/Webots-SummitXL/workspace/install/local_setup.bash

Screenshots

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