Turtlebot navigation with movebase in Gazebo.
Install ROS,if it is not already installed.
sudo apt install ros-melodic-desktop-full
Add environment variables to bashrc：
sudo gedit ~/.bashrc
Add the following content at the end of the file
source /opt/ros/melodic/setup.bash
source ~/turtlebot_workspace/devel/setup.bash
export TURTLEBOT_BASE=kobuki
export TURTLEBOT_STACKS=hexagons
export TURTLEBOT_3D_SENSOR=hokuyo
Refresh environment variables：
source ~/.bashrc
Apt-install these packages:
sudo apt-get install ros-melodic-ecl-exceptions
sudo apt-get install ros-melodic-ecl-threads
sudo apt-get install ros-melodic-joy*
sudo apt-get install ros-melodic-kobuki-driver
sudo apt-get install ros-melodic-ecl-streams
sudo apt-get install ros-melodic-yocs-controllers
sudo apt-get install ros-melodic-depthimage-to-laserscan
sudo apt-get install ros-melodic-yocs-velocity-smoother
sudo apt-get install ros-melodic-gmapping
sudo apt-get install ros-melodic-map-server
sudo apt-get install ros-melodic-navigation
Clone this repository on your computer and catkin_make(catkin_make in the turtlebot_workspace directory):
mkdir -p turtlebot_workspace/src
cd turtlebot_workspace/src
git clone https://github.com/zmy2017/Turtlebot-movebase-navigation.git
cd ..
catkin_make
All of the dependencies are in the environment.yml file. They can be installed manually or with the following command:
conda env create -f environment.yml
Here is an example navigation run command.In test_navigation.py，first execute domain randomization，then execute navigation
On terminal 1 launch ROS and gazebo server:
cd ~/turtlebot_workspace
roslaunch gazebo_domain_randomizer amcl.launch
On terminal 2 run:
python test_navigation.py
evo:Python package for the evaluation of odometry and SLAM
pip install evo --upgrade --no-binary evo
In sim_traj.txt and real_traj.txt,trajectories are saved as tum format.
timestamp x y z q_x q_y q_z q_w
test_evo.py:Align timestamps of sim_traj.txt and real_traj.txt,and analyze the differences between simulated and pseudo reality(another simulated) trajectories.Open a terminal run:
python test_evo.py
After manually forcing interruption the terminal where Gazebo located,use the following commands to kill the Zombie process:
killall gzserver
killall gzclient
├── environment.yml # Conda environment configuration
├── gazebo_domain_randomizer # Primary Python module of this project
│ ├── launch # Launch directory
│ ├── maps # Maps for rviz
│ ├── scripts # Python files
│ │ ├── gazebo_domain_randomization.py # Set sim/real world env and modify Gazebo parameters(currently include mass of Turtlebot,friction coefficient of two wheels)
│ │ ├── gazebo_env.py # Functions that interact with Gazebo
│ │ ├── get_map.py # Select starting and destination points based on the map
│ │ ├── robot_description.urdf # Currently is useless.Robot description integrated into one file,convenient for reading
│ │ ├── test_domain_randomization.py # test code for domain randomization
│ │ ├── test_navigation.py # movebase navigation code
│ └── SimpleWorld # Worlds for simulation environments
├── gazebo_ext_msgs # Custom Service Data
│ └── srv # include GetSurfaceParams,SetSurfaceParams and others custom services' formats
├── gazebo_physics_plugin # Physics plugins for implementing custom services
├── gazebo_scene_plugin # Scene plugins for implementing custom services(currently not use)
├── requirements.txt # Of no use,use environment.yml is enough
└── Turtlebot_profile # Turtlebot official configuration file,include robot description files,Movebase for navigation,and amcl for location.