/monsterborg

Simulation of Monsterborg

Primary LanguagePython

Monsterborg

This repository contains 3 ROS packages:

  • monsterborg_description
  • monsterborg_control
  • monsterborg_navigation

IMPORTANT: Before starting anything it is important to check you have certain ROS packages installed in ROS in order to successfully run each package. Check the pacakage.xml file of each packages to find the package dependencies. Secondly, open up a terminal tab (and do not close the tab) and run the command: roscore

AUTONOMOUS NAVIGATION

IMPORTANT Before executing any commands, monsterborg_navigation contains 2 python programs; single_move_base_outdoor_nav.py and multiple_move_base_outdoor_nav.py. The programs must be given permission to be executable by any user. To achieve so, run the commands: chmod 777 single_move_base_outdoor_nav.py and chmod 777 multiple_move_base_outdoor_nav.py

To view autonomous GPS-based navigation, execute the following in different terminal tabs:

  1. roslaunch monsterborg_navigation outdoor_nav.launch : A Gazebo world and RVIZ world will pop up. The move_base node is up and running. Sometimes Gazebo crashes when this executed this command. If this occurs, re-execute the launch file.

  2. For single point navigation: rosrun monsterborg_navigation single_move_base_outdoor_nav.py

  3. For multiple point navigation: rosrun monsterborg_navigation multiple_move_base_outdoor_nav.py

Once the Monsterborg is done navigating, the terminal running roslaunch monsterborg_navigation outdoor_nav.launch should terminate and display a message the Monsterborg has achieved its goals.

This project was conducted on ROS Melodic, Gazebo and Ubuntu 18.04 LTS. When installing everything on Ubuntu install ROS Melodic first, choosing the desktop-full installation. This installation option will install all the important packages to get started (including all packages that connect ROS with Gazebo such as the plug-ins etc...). ALso please refer to the package.xml file of each package to install the additional packages to get everything running smoothly. After installing ROS, install Gazebo.