/cleaner_robot

Roomba like vacuum cleaner robot that performs obstacle avoidance.

Primary LanguageC++MIT LicenseMIT

License MIT

Authors

Prasheel Renkuntla - GitHub

Overview

Roomba like vacuum cleaner that performs the basic functionality of autnomous navigation with obstacle avoidance.

Description

An example of obstacle avoidance in ROS for a turtlebot simulated in Gazebo. The world here is turtlebot_world in which if any of the objects are moved and placed in front of the turtlebot, it will move around and start autonomously again. A launch file is made to start the nodes at once. Also, ROSBag is used to examine the output from the topics using an argument in launch file.

Dependencies

  1. ROS Kinetic - Installation
  2. Catkin(installed by default with ROS) - a low level build system macros and infrastructure for ROS.
  3. Gazebo - Gazebo Installation
  4. Turtlebot - Turtlebot Package Installation
  5. ROS libraries - roscpp, geometry_msgs, sensor_msgs

Build

Build using the following commands-

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make

source devel/setup.bash
cd src/

git clone --recursive https://github.com/prasheel24/cleaner_robot
cd ..
catkin_make

This will make the workspace and package ready for execution

To run the cleaner robot

These are the following steps to run the cleaner_robot.

  1. Using launch file from a new terminal-
roslaunch cleaner_robot runNodes.launch
  1. To run the node separately-
cd ~/catkin_ws
source ./devel/setup.bash
roscore

   Ensure if roscore is running in the terminal. For any issues check ROS Troubleshoot

    Then, in another terminal, open the turtlebot_world

cd ~/catkin_ws
source ./devel/setup.bash
roslaunch turtlebot_gazebo turtlebot_world.launch

    Open a new terminal to run the node-

cd ~/catkin_ws
source ./devel/setup.bash
rosrun cleaner_robot cleanerBot

To record bag files

ROSBag recording can be done using the following command- Open a terminal to run the launch file:

cd ~/catkin_ws
source ./devel/setup.bash
roslaunch cleaner_robot runNodes.launch rosbagRecord:=true

   When the flag(default = false) is true, it will record until SIGINT(ctrl+c) is pressed.

   Following are the steps to examine the recorded bag file

  1. Open a terminal to setup the Master Node:
cd ~/catkin_ws
source ./devel/setup.bash
roscore
  1. Open a new terminal to play the bag file:    Open the turtlebot_world in a terminal
cd ~/catkin_ws
source ./devel/setup.bash
roslaunch turtlebot_gazebo turtlebot_world.launch

   Then in another terminal, run this command

cd ~/catkin_ws
source ./devel/setup.bash
cd src/beginner_tutorials/results
rosbag play recording.bag

   The info on rosbag file can be seen using the following command

cd ~/catkin_ws/src/beginner_tutorials/results
rosbag info recording.bag

References

  1. For issues in turtlebot installation, read this page- ROBOTIS-GIT/turtlebot3#304
  2. https://en.cppreference.com/w/cpp/language/range-for
  3. https://stackoverflow.com/questionas/37621342/cmake-will-not-compile-to-c-11-standard
  4. http://docs.ros.org/melodic/api/sensor_msgs/html/msg/LaserScan.html
  5. http://wiki.ros.org/cmd_vel_mux