krada-jhin / omtb

A modified version for OpenManipulator with TurtleBot3(OMTB)

OMTB

A modified version for OpenManipulator with TurtleBot3(OMTB)

Environment

System: Ubuntu 16.04

ROS version: Kinetic

Gazebo version: 7.0 or higher

Docker

Docker Container for OMTB. You can directly use the environment.

sudo docker pull syf758521/navigation:v1.0

A simple example:

sudo docker run -p 6080:80 -p 5900:5900 -e VNC_PASSWORD=1234 -e RESOLUTION=1920x1080 -v /dev/shm:/dev/shm syf758521/navigation:v1.0

Browse http://127.0.0.1:6080/

Vnc Viewer 127.0.0.1:5900

Feature list

omtb_control

• keyboard controller for OMTB

• automove function for OMTB

• launch scripts for OpenManipulator

omtb_description

• OMTB 3D model description for visualization and simulation

omtb_gazebo

• simulation package using gazebo for OMTB

omtb_moveit

• Moveit controller for OpenManipulator

slam_lidar

• roslaunch scripts for SLAM using LiDAR

slam_vision

• roslaunch scripts for SLAM using RGB or RGBD camera

Before started

• You need to install some packages of ros.

• It seems like there were some installing rules changed in 2019, some packages were deleted in ros-kinetic-desktop-full.

1.ros-control

sudo apt-get install ros-kinetic-ros-control ros-kinetic-ros-controllers

2.gazebo-ros-control

sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-msgs ros-kinetic-gazebo-plugins ros-kinetic-gazebo-ros-control

3.ros-navigation

sudo apt-get install ros-kinetic-navigation

4.others

sudo apt-get install ros-kinetic-moveit* ros-kinetic-dynamixel-sdk ros-kinetic-dynamixel-workbench-toolbox ros-kinetic-robotis-math ros-kinetic-industrial-core ros-kinetic-smach* ros-kinetic-velodyne* ros-kinetic-hector-gazebo-plugins

Getting started

SLAM

1. Run environment for OMTB

roslaunch omtb_gazebo ${NUM}tb_room${NUM}.launch

Examples:

• A single turtlebot in room1

roslaunch omtb_gazebo 1tb_room1.launch

• Two turtlebots in room2

roslaunch omtb_gazebo 2tb_room2.launch

• Two turtlebots in room2 with ramp1

roslaunch omtb_gazebo 2tb_room2_ramp1.launch

2. Launch slam

• Using single-turtlebot3 for SLAM

roslaunch slam_lidar slam.launch slam_methods:=${gmapping, hector, karto or cartographer}

• Using multi-turtlebot3 for SLAM (Now only support hector_SLAM)

roslaunch slam_lidar map_merge_hector.launch

3. Provide control method for OMTB

• Using keyboard

roslaunch omtb_control turtlebot3_key.launch

• Using automove function

roslaunch omtb_control automove_${NUM}tb_room${NUM}.launch

Examples:

• for a single turtlebot3 in room1

roslaunch omtb_control automove_1tb_room1.launch

• for two turtlebot3 in room2

roslaunch omtb_control automove_1tb_room2.launch

4. Save map

Template:
rosrun map_server map_saver map:=/robot${NUM}/map -f /${YOUR PATH}

5. Start robot navigation

roslaunch slam_lidar navigation_${NUM}tb_room${NUM}.launch

Examples:

• for a single turtlebot in room2

roslaunch omtb_control automove_1tb_room2.launch

• for two turtlebot3 in room2

roslaunch slam_lidar navigation_2tb_room2.launch

Pick and place

roslaunch omtb_gazebo 2tb_room2_ycb.launch
roslaunch omtb_control pick_and_place_2tb_room2.launch

Multi-line LiDAR

roslaunch omtb_gazebo 1tb_room2.launch
roslaunch slam_lidar slam.launch slam_methods:=cartographer_vlp16
roslaunch omtb_control automove_1tb_room2.launch
rosbag record /robot1/imu /robot1/odom /robot1/points2 /robot1/scan /tf /tf_static
rosservice call /robot1/write_state ${Bag_name}.pbstream
roslaunch slam_lidar assets_writer_vlp16.launch bag_filenames:=${Bag_name} pose_graph_filename:=${Bag_name}.pbstream