Evolutionary Algorithm based robot cleaner control ROS2 simulation package

diff_robot_description package is for simulation of circular differential drive robot in Gazebo simulator. diff_robot_control package is for dust particle generation and gathering logic.

Whole simulation environment

Command for launching robot simulation, dust publisher, and Evolutionary Algorithm controller:

ros2 launch diff_robot_control EA_control.launch.py

Simulation

Command for launching robot simulation:

ros2 launch diff_robot_description display.launch.py

Teleoperation

1. Command for teleoperating robot via forward/backward/left/right arrow keys:

   ros2 run teleop_twist_keyboard teleop_twist_keyboard
   

2. Command for teleoperating robot via separate velocity keys:

   ros2 run diff_robot_control velocity_teleop 
   

3. Command for EA:

   ros2 run diff_robot_control velocity_evolutionary_algorithm
   

Dust visualization

Command for starting dust visualization and gathering logic:

ros2 run diff_robot_control dust_particles_node

The RViZ window with dust information along with robot model simulated in Gazebo can be seen below.