Rahal Robot

• 2D Lidar (A2 RPLIDAR): Provides 360-degree distance measurements to create a 2D map of the robot’s surroundings, essential for obstacle detection and mapping.
• Camera (RealSense D435): Captures depth and color images for advanced perception tasks, including object recognition and spatial understanding.
• IMU (MPU 6050): Measures acceleration and angular velocity to provide orientation and movement data, crucial for stabilization and navigation.
• Ultrasonic Sensor (HC-SR04): Uses sound waves to measure distance to nearby objects, useful for collision avoidance and distance sensing.
• GPS (NEO-6): Provides location data by connecting to global satellite networks, enabling accurate position tracking and navigation.

Steps to Set Up and Run the Robot

1. Create and Build the Workspace

Create your ROS workspace and clone the robot package:

mkdir -p  catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
git clone https://github.com/arab-meet/Rahal_Robot.git
cd ..
catkin_make

2. Display Our Logo on the Robot

To display our logo on the robot in Gazebo, follow these steps:

1. Navigate to the directory where the relevant texture files are located:

   cd src/rahal_description_pkg/textures

2. Copy the white_material.material file to Gazebo’s materials scripts directory by running the following command:

   cp white_material.material /usr/share/gazebo-11/media/materials/scripts/

   Note: If you encounter a Permission denied error, use sudo to grant the necessary permissions:

   sudo cp white_material.material /usr/share/gazebo-11/media/materials/scripts/

3. Copy the logo.material file to Gazebo’s materials scripts directory:

   sudo cp logo.material /usr/share/gazebo-11/media/materials/scripts/

4. Copy the logo.png image to Gazebo’s materials textures directory:

   sudo cp logo.png /usr/share/gazebo-11/media/

Following these steps will integrate the logo and ensure it appears on the robot in the Gazebo simulation.

3. Running Both Gazebo and RViz Together

to launch both the Gazebo simulation and the RViz visualization simultaneously, use this:

roslaunch rahal_description_pkg rahal_gazebo.launch