Autonomous Parking of Mecanum Wheel Robot

The project is implemented as a part of the Case Study Autonomous System lecture at TH Deggendorf.

Team members

Oben Sustam
Eby Jose
Basem Aboudeshish
Mohamed Mady

Mechanical Properties

Wheel Width: 31.5 mm
Wheel Radius: ~ 30 mm
Wheel Base: 235 mm
Track: ~ 270mm

Installations

sudo apt-get install ros-<ROS_VERSION>-teleop-twist-keyboard
sudo apt-get install ros-<ROS_VERSION>-gmapping
sudo apt-get install ros-<ROS_VERSION>-amcl 
sudo apt-get install ros-<ROS_VERSION>-navigation 

Teleop Control

roslaunch mecanum_robot world.launch
rosrun teleop_twist_keyboard teleop_twist_keyboard.py

Mapping

roslaunch mecanum_robot world.launch
roslaunch mecanum_robot gmapping.launch
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
rosrun map_server map_saver -f ~/<folder_name>/<map_name>

Autonomous Navigation

roslaunch mecanum_robot world.launch
roslaunch mecanum_robot navigation.launch
rosrun mecanum_robot move_goal.py