This package contains a mutlipurpose four-wheeled skid-steer drive robot equipped with sensors such as IntelRealSense D435 Depth Camera, LiDAR, Ultrasonics, GPS, IMU, Magnetometer and a pair of cameras.
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Obstacle Avoidance with soft turning using pcl processing (passthrough + voxel + RANSAC + euclidean clustering + centroidal analysis).
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Detection of slope angle and ditch depth by using a sonar panel.
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Dynamic traversal using GPS and IMU to reach desired location along with sonar obstacle avoidance.
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Ability of localisation by using two independent EKFs.
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Teleoperation with respect to waypoints/time by path smoothening.
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Alvar Gate Traversal.
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Tennis Ball Detection.
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Fully integrated with move_base:
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Custom Global Planner:
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Traffic Light Model:
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Install all the required ROS related dependencies:
rosdep install --from-paths src --ignore-src -r -y
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To install all python related dependencies:
pip install -r requirements.txt
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To install all Mapviz related dependencies:
./mapviz_install.sh
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For basic bot simulation:
roslaunch atreus xacro.launch
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To add an additional python dependency to the list, modify
requirements.in
and add a trailing library to the file. After which you need to install the following dependencies in order to usepip-compile
:pip install pip-tools launchpadlib
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Finally use
pip-compile
to generate arequirements.txt
file fromrequirements.in
:pip-compile requirements.in
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Run the following command if the traffic light does not glow red:
./traffic_light_dep_fix.sh
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Run the following commands if the map cache in mapviz does not appear.
Based on the errors displayed, correspondingly run the commands and then launch mapviz:
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ERROR: 1 or ERROR: 203
sudo docker run -p 8080:8080 -d -t -v ~/mapproxy:/mapproxy danielsnider/mapproxy
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ERROR: 2 or ERROR: 401
sudo docker container ls sudo docker stop {container id} sudo docker run -p 8080:8080 -d -t -v ~/mapproxy:/mapproxy danielsnider/mapproxy
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ERROR: 302
Configured correctly. Poor internet connection.