Spnetic-5/Obstacle-Avoidance-Using-Ros-Gazebo

This project is done under SRA assignments, Obstacle Avoidance Using Ros and Gazebo.

Obstacle-Avoidance-Using-Ros-Gazebo

Obstacle avoiding Differential drive bot using ROS and Gazebo. The robot design and other requirements can be found in this PDF.

Table of Contents

• About the Project
  • Tech Stack
  • File Structure
• Getting Started
  • Prerequisites
  • Installation
• Results and Demo
• Future Work
• Troubleshooting
• Contributors
• Acknowledgements and Resources
• License

About The Project

Tech Stack

Technologies used for this project:

• ROS
• Gazebo

File Structure

.
├── my_robot_urdf                                # package containing urdf and launch files.            
|    ├── urdf                                    
|    |   ├── dd_robot.gazebo                     # contains all gazebo plugins.
|    |   ├── dd_urdf.xacro                       # contains the main urdf model of dd robot.
|    |   ├── material.xacro                      # contains colors for dd robot.
|    |   └── wheels.xacro                        # contains wheels
|    └── launch
|        ├── rviz.launch                         # For launching bot in Rviz(ROS debugging tool).
|        ├── gmapping.launch
|        └── robot.launch                        # For spawning bot in Gazebo(Simulation).
|
├── motion_plan                                  
|   ├── OA.py                                    # Obstacle Avoidance algorithm.
|   ├── reading_laser.py                         # Getting laser sensor readings.
|   └── go-to-point.py                           # Motion Planning Algorithm
|
└── my_worlds                                    # Environment for Simulation of dd bot in Gazebo 
    ├── worlds                  
    |    ├── world01.world                       # Environment 1
    |    └── world02.world                       # Environment 2
    ├── launch 
        └── world.launch                         # For launching Gazebo world 

Getting Started

1. Clone this repository in cd catkin_ws/src folder and run catkin_make.
2. Launch your terminal and run the command roslaunch my_worlds <world_name>.launch. This will launch the gazebo environment.
3. In another terminal, run the command roslaunch my_robot_urdf robot.launch. This will load the dd robot in the gazebo environment at the origin.
4. In another terminal run rosrun motion_plan OA.py. This will start the robot and obstacle avoidance algorithm.
5. In another terminal rosrun motion_plan go-to-point.py. This will start the robot and motion planning algorithm.

Prerequisites

• ROS
• Gazebo

Installation

Clone the repo

git clone https://github.com/Git-Saurabh5/Obstacle-Avoidance-Using-Ros-Gazebo.git

Results and Demo

GIF

Obstacle Avoidance:

Moving to Desired co-ordinates:

Gmapping:

Video

• Obstacle Avoidance
• Motion Planning

Future Work

• Motion Planning Algorithm
• G-Mapping Algorithm
• Path Planning Algorithm

Troubleshooting

• Common errors while configuring the project

Contributors

• Saurabh Suresh Powar

Acknowledgements and Resources

• SRA VJTI
• OG
• Reference for achieving this :
  • ROS wiki
  • Gazebo
  • The Construct

License

This project is licensed under the MIT License - see the LICENSE file for details