Husky Robot

This repository contains code for simulating the Husky robot and performing various tasks such as navigation, mapping, and SLAM using ROS 2 Humbel and the Husky robot.

Prerequisites

Make sure you have the following prerequisites installed:

ROS 2 Humble Desktop

Follow the installation instructions for ROS 2 Humble Desktop: Humble Desktop Installation

Required ROS 2 Packages

Install the necessary ROS 2 packages:

sudo apt-get install ros-humble-hardware-interface ros-humble-controller-manager ros-humble-gazebo-ros2-control ros-humble-xacro ros-humble-hardware-interface ros-humble-gazebo-plugins ros-humble-gazebo-msgs ros-humble-gazebo-ros ros-humble-gazebo-ros2-control-demos ros-humble-slam-toolbox ros-humble-navigation2 ros-humble-nav2-bringup

Getting Started

For Ubuntu 22.04, follow these steps:

cd /<your_workspace>/src
git clone https://github.com/khaledgabr77/husky_simulation
cd ../..
rosdep install --from-paths src --ignore-src -r -y
colcon build
source install/setup.bash

Warehouse Model Setup

Clone the AWS RoboMaker Small Warehouse World repository from GitHub:

cd /<your_workspace>/src
git clone -b ros2 https://github.com/aws-robotics/aws-robomaker-small-warehouse-world.git

Export the GAZEBO_MODEL_PATH:

export GAZEBO_MODEL_PATH=/home/riot/src/ros2_ws/src/aws-robomaker-small-warehouse-world/models/

Simulation

Compile the package and set up the environment:

colcon build 
source install/setup.bash

Launch the Husky robot and the warehouse environment:

ros2 launch husky_simulation hasky_gazebo.launch.py

Drive the robot using teleop:

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Mapping

To perform SLAM with this package, ensure you have built the Slam-Toolbox from source. Note that the parameters of the official slam_toolbox are not finely tuned for ROS 2 Humble, so some modifications have been made to the parameters.

Launch the mapping process:

ros2 launch husky_simulation hasky_gazebo.launch.py 
ros2 launch hasky_naviagtion online_async_launch.py
ros2 run teleop_twist_keyboard teleop_twist_keyboard

After mapping, save the map:

ros2 run nav2_map_server map_saver_cli -f <name_of_the_map>

You will find the map saved as both a .png and a .yaml file.

Navigation

Navigation2

Launching Navigation2 Stack

To launch the navigation2 stack for the Husky robot in the warehouse environment, follow these steps:

Launch the Husky simulation environment:

ros2 launch husky_simulation hasky_gazebo.launch.py

Launch the navigation2 stack using the following command:

ros2 launch husky_navigation husky_navigation.launch.py  use_sim_time:=True autostart:=True map:=src/TFG_Husky_UAL/husky_navigation/maps/warehouse_slam_toolbox.yaml

Setting Navigation Goal

Once the navigation2 stack is running, you can command the robot to navigate to a specific goal using the following methods:

Using RViz:

Open RViz and use the 2D Pose Estimate tool to set the initial pose of the robot in the map. Then, use the 2D Nav Goal tool to specify the desired goal location. The robot will plan and execute a path to reach the goal.
Using Command Line:

Open a new terminal and execute the following command to programmatically set the initial pose and navigation goal:
```
ros2 topic pub /initialpose geometry_msgs/msg/PoseWithCovarianceStamped "{header: {stamp: {sec: 0}, frame_id: 'map'}, pose: {pose: {position: {x: 0.0, y: 0.0, z: 0.0}, orientation: {z: 1.0, w: 0.0}}}}"
```
This command sets the initial pose to the specified coordinates (adjust as needed) and orientation. The robot will then navigate to the predefined goal.

brschettini/husky_simulation