avdhootu27 / fwomni_ws

ROS workspace for 4 wheel omni drive. Implementation of slam-gmapping, AMCL, autonomous navigation + obstacle avoidance in simulation.

fwomni_ws

The workspace is created in ros-noetic. The purpose of creatng this workspace is to test navigation parameters for 4 wheel omni bot (holonomic/non-holonomic). The controller for the navigation is not working as expected due to unknown reasons so I have used a planar plugin to move the bot according to the velocities published on cmd_vel topic.

This workspace have the URDF of 4 omni-wheeled bot, partially created using Autodesk Fusion360 & partially created/modified by me.

To run the bot using teleop_twist_keyboard:

$ roslaunch fwomni gazebo.launch

To start slam-gmapping:

$ roslaunch fwomni gmapping.launch

To run AMCL:

$ roslaunch fwomni amcl.launch

To start autonomous navigation:

There are two files of dwa local planner, one for holonomic & another for non-holonomic motion. Update the name of dwa local planner file in the move_base.launch to make the navigation holonomic/non-holonomic.

$ roslaunch fwomni navigation.launch

To start autonomous path following:

$ roslaunch fwomni automate.launch

Run following command on another terminal to start the path

$ rostopic pub /automate/command std_msgs/String "start"