/ME5413_Planning_Project

NUS ME5413 Autonomous Mobile Robotics Planning Project

Primary LanguageC++MIT LicenseMIT

ME5413_Planning_Project

NUS ME5413 Autonomous Mobile Robotics Planning Project

Authors: Ziggy and Shuo

Ubuntu 20.04 ROS Noetic C++ Python GitHub Repo stars GitHub Repo forks

cover_image

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
    • tf2
    • tf2_ros
    • tf2_eigen
    • tf2_geometry_msgs
    • gazebo_ros
    • jsk_rviz_plugins
    • jackal_gazebo
    • jackal_navigation
    • velodyne_simulator
    • dynamic_reconfigure

Installation

This repo is a ros workspace, containing three rospkgs:

  • me5413_world the main pkg containing the gazebo world, source code, and the launch files
  • jackal_description contains the modified jackal robot model descriptions

Note: If you are working on this project, it is encouraged to fork this repository and work on your own fork!

After forking this repo to your own github:

# Clone your own fork of this repo (assuming home here `~/`)
cd
git clone https://github.com/<YOUR_GITHUB_USERNAME>/ME5413_Planning_Project.git
cd ME5413_Planning_Project

# Install all dependencies
rosdep install --from-paths src --ignore-src -r -y

# Build
catkin_make
# Source
source devel/setup.bash

Usage

0. Gazebo World

This command will launch the gazebo with the project world

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

1. Path Tracking

In the second terminal, launch the path publisher node and the path tracker node:

# Load a map and launch AMCL localizer
roslaunch me5413_world path_tracking.launch

rviz_tracking_image

Student Tasks

  • Control your robot to follow the given figure 8 track.

    • You may use any algorithms you like.
    • Implement your algorithms in the src/me5413_world/include/me5413_world/path_tracker_node.hpp and src/me5413_world/src/path_tracker_node.cpp, to replace our template code.
    • Test your algorithms on the track & Report your tracking accuracy.

  • In the template code, we have provided you:

    • A dumb PID controller for the throttle.
    • A weird Stanley controller for the steering.
    • However, both are not properly configured or tuned.

  • We have provided you a dynamic reconfigure GUI that allows you to tune some of the parameters:

    rqt_reconfig_image

  • We also provides you six topics (and visualized in RVIZ) that computes the real-time errors between your robot and the tracking path:

    • /me5413_world/planning/abs_position_error ([m], std_msgs::Float32)
    • /me5413_world/planning/abs_heading_error ([deg], std_msgs::Float32)
    • /me5413_world/planning/abs_speed_error ([m/s], std_msgs::Float32)
    • /me5413_world/planning/rms_position_error ([m], std_msgs::Float32)
    • /me5413_world/planning/rms_heading_error ([deg], std_msgs::Float32)
    • /me5413_world/planning/rms_speed_error ([m/s], std_msgs::Float32)

Contribution

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

We are following:

License

The ME5413_Planning_Project is released under the MIT License