The motar_mini robot package is designed as a sub-version of the "Medical Autonomous Carrying Robot" main model. ROS Melodic is compatible.
For motar main model : https://github.com/mertcankurt/MOTAR
To watch the Demo: https://www.youtube.com/watch?v=6Ig-_KnUtJc
Rviz Launching:
$ roslaunch motar_mini motar_rviz_amcl.launch
Gazebo Launching:
$ roslaunch motar_mini motarmini_gazebo.launch
- Ultrasonic sensors added.
Requirements:
-
In order for the sensors to work properly, "gazebo_ros_pkgs" files must be downloaded.
$ cd ~/catkin_ws/src $ git clone https://github.com/ros-simulation/gazebo_ros_pkgs.git -b melodic-devel #on ubuntu 18.04 $ git clone https://github.com/ros-simulation/gazebo_ros_pkgs.git -b kinetic-devel #on ubuntu 16.04 $ catkin_make
- Available SLAM package usage (motarmini_slam.launch).
- Added laser sensor.
- Available mapping with laser sensor to gazebo maps.
Requirements:
-
In order for the SLAM to work, "slam_gmapping" package must be downloaded.
$ cd ~/catkin_ws/src $ git clone https://github.com/ros-perception/slam_gmapping.git -b melodic-devel #on ubuntu 18.04 $ git clone https://github.com/ros-perception/slam_gmapping.git -b kinetic-devel #on ubuntu 16.04 $ catkin_make
First Launch Gazebo:
$ roslaunch motar_mini motar_with_map.launch
Then Launch SLAM:
$ roslaunch motar_mini motarmini_slam.launch
Then Launch Rviz:
$ roslaunch motar_mini motar_rviz_amcl.launch
- Added point to point movement capability.
- Added a launch file for opening both the map and the robot at the same time in gazebo(motar_with_map.launch)
First Launch Gazebo:
$ roslaunch motar_mini motar_with_map.launch
Then Launch Rviz:
$ roslaunch motar_mini motar_rviz_amcl.launch
Then Launch amcl launch file:
$ roslaunch motar_mini amcl.launch
- Added Interface that can manually control the robot,and its speed
- The interface also publishes patient,room,medicine and destination to topic motar_mini/dprm
- The interface has a login system. you can add a new account if you know the username and password of a viable account
- all the python codes are included
First Do a catkin_make, Then open The file with no extension that is named Interface in the Folder motar_mini/scripts/Interface
If you want to open the interface from a python file open a terminal in the Interface Folder and type:
python login.py
Contributors:
Mertcan KURT
Burak KARGACI
Yeter ATEŞ
Musa ERTUĞRUL