This repository is the implementation for ME5413 Autonomous Mobile Robotics Final Project
Created by Group 12
The requirement can be found in https://github.com/NUS-Advanced-Robotics-Centre/ME5413_Final_Project and also an extra ros package
pcl_ros
is used for generating pcl file from rostopicteb_local_planner
is used for local path plan, you need use the following command to install this package:
sudo apt-get install ros-noetic-teb-local-planner
This repo is a ros workspace, containing several rospkgs:
ALOAM
is SLAM algorithm package used for 3D mappingcostmap_prohibition_layer
provides a plugin to add virtual obstacle in costmap to set prohibited regioninteractive_tools
are customized tools to interact with gazebo and your robotjackal_description
contains the modified jackal robot model descriptionsjackal_navigation
contains a probabilistic localization system for navigationme5413_world
the main pkg containing the gazebo world, and the launch filespcd2pgm
for converting pcd file to pgm map which can be used for navigation
# Clone this repo
cd
git clone https://github.com/zzf-zzf/mobile_final_group12.git
cd mobile_final_group12
# Install all dependencies
rosdep install --from-paths src --ignore-src -r -y
# Build
catkin_make
# Source
source devel/setup.bash
To properly load the gazebo world, you will need to have the necessary model files in the ~/.gazebo/models/
directory, which installation instructions can be found in URL above.
Following commands will launch the gazebo with the project world
# Launch Gazebo World together with our robot
roslaunch me5413_world world.launch
In the second terminal, launch A-LOAM SLAM for 3D Lidar
source devel/setup.bash
roslaunch aloam_velodyne aloam_velodyne_VLP_16.launch
In order to drive the robot around for mapping, launch keyboard control node in the third terminal
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
By above you can visualize pointclouds, and finish mapping by exploring all possible areas
To save the pointclouds in a pcl file, run rosnode in
pcl_ros
package to generate file in current direction
rosrun pcl_ros pointcloud_to_pcd input:=/laser_cloud_surround
To convert the pcl file to pgm format, run rosnode in
pcd2pgm
package after modify the path in test.cpp
private_nh.param("file_directory", file_directory, std::string("/home/($ your_username)/pcd/")); # the path to pcd file
private_nh.param("file_name", file_name, std::string("12673.944000000")); # the name of the pcd file
Then build the workspace again and run the rosnode
cd ~/mobile_final_group12
catkin_make
rosrun pcd2pgm pcd2topic
And run map saver in another terminal
rosrun map_server map_saver
After transforming you can obtain the global map by 3D Lidar SLAM like below and also a corresponding .yaml file, rename both as my_map and put them into src/me5413_world/maps/
To begin with adding prohibited region in the map, find prohibition_areas.yaml
in mobile_final_group12/src/jackal_navigation/params/map_nav_params/
and modify the following content in the file to the desired one
prohibition_areas:
# define an obstacle point
# - [17.09, -6.388]
# define an obstacle line
- [[4.5, 1.5],
[4.5, 5.0]]
- [[1.0, 1.0],
[3.0, 1.0]]
# define an obstacle region
#- [[-11.15, -15.614],
# [-12.35, -13.89],
# [-10.05, -12.218]]
After that, also check if following lines in move_base.launch
in jackal_navigation
package,
<rosparam file="$(find jackal_navigation)/params/map_nav_params/prohibition_areas.yaml" command="load" ns="global_costmap/costmap_prohibition_layer" />
<rosparam file="$(find jackal_navigation)/params/map_nav_params/prohibition_areas.yaml" command="load" ns="local_costmap/costmap_prohibition_layer" />
Then, add follow code to global_costmap_params.yaml
:
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
# - {name: obstacles_layer, type: "costmap_2d::ObstacleLayer"}
- {name: inflater_layer, type: "costmap_2d::InflationLayer"}
- {name: costmap_prohibition_layer, type: "costmap_prohibition_layer_namespace::CostmapProhibitionLayer"}
Close all terminals and start new one in the workspace
source develop/setup.bash
roslaunch me5413_world world.launch
In the second terminal launch the navigation node
source develop/setup.bash
roslaunch me5413_world navigation.launch
Click the buttons of the bottom right panel in rviz and navigation to the specified pose
If you want to change the initial position of robot and set different goal pose, you should change follow code at amcl.launch
which is define the load position ar rviz:
<param name="initial_pose_x" value="($ x position you want)" />
<param name="initial_pose_y" value="($ y position you want)" />
<param name="initial_pose_a" value="($ angle you want)" />
Then change corresponding code at spawn_jackal.launch
which define the position at gazebo:
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model"
args="-urdf -model jackal -param robot_description -x 0 -y 0 -z 1 -R 0 -P 0 -Y 0" />
<!-- the value of parameter should same as `amcl.launch` -->
If you want to use other gloabl or local planner algorithm, you should adjust the following code at move_base.launch
:
<!-- <rosparam file="$(find jackal_navigation)/params/base_local_planner_params.yaml" command="load" /> -->
<!-- <rosparam file="$(find jackal_navigation)/params/dwa_local_planner_params.yaml" command="load" /> -->
<rosparam file="$(find jackal_navigation)/params/teb_local_planner_params.yaml" command="load" />
<!-- <param name="base_local_planner" value="base_local_planner/TrajectoryPlannerROS"/> -->
<!-- <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" /> -->
<param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" />
Our repo gives three local plan algorithm to use, the default is teb_local_planner
, if you want to use other, you just need to comment now algorithm and select which you want, but if you want to use external algorithm, you not only need to change this parameters, but also need to add parameter file like teb_local_planner_params.yaml
.
For global algorithm, the default is good, but if you prefer other algorithm, you can change following code at move_base.launch
and add configuration file:
<param name="base_global_planner" type="string" value="navfn/NavfnROS" />
If you have any questions please feel free to open a pull-request
The mobile_final_group12 is released under the MIT License