robotcraft19 / robotcraft-ros-navigation

🤖🧭 Differential Ground Robot autonomous driving simulation in simple environments.

Amazebot Wallfollowing Package

Differential robot simulated on Stage. You can add your own map, own robot. ROS nodes developed only include the wallfollowing robot using IR sensors. Wall distance is controlled by a Proportional controller. Integral and Derivative gain may be needed but are not used here.
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Table of Contents

• About the Project
• Setup
• Run
  • Reactive
  • Teleoperation
• Roadmap
• Contribute
• License
• Contact
• Contributors

About the Project

This simulation package was developed during the Robotcraft '19 program. A basic right hand follower algorithm was provided by the supervisers but we decided to tune a P(ID) controller, which resulted in a smoother drive than anyone for the amazebot !

Setup

To setup ROS, run the "install_melodic.sh" script in the scripts directory using sh install_melodic.sh or chmod+x scripts/install_melodic.sh && ./ install_melodic.sh

You can also use tutorials. There's a bunch of them, including in the ros wiki.

Now that you have ROS, to setup the project on your local machine:

1. Click on Fork.
2. Go to your fork and clone the project to your local machine, in the "catkin_ws" folder.
3. git clone https://github.com/robotcraft19/robotcraft-ros-navigation.git
4. Make sure you have rosdep install : sudo apt-get install python-rosdep && sudo rosdep init
5. cd ~/catkin_ws
6. rosdep install --from-paths src --ignore-src -r -y
7. In the catkin workspace : catkin_make

If everything went smoothly, you should now have this repo's package as well as its dependencies.

Run

Running the nodes is quite easy as launch files were made.

Reactive Navigation :

• Circle Maze : roslaunch robotcraft-ros-navigation circle_maze.launch
• Worldmap Maze : roslaunch robotcraft-ros-navigation reactive.launch
• Square Maze : roslaunch robotcraft-ros-navigation square_maze.launch

Teleoperation :

• Only one map available : roslaunch robotcraft-ros-navigation teleop.launch

Roadmap

See the open issues for a list of proposed features (and known issues).

Contribute

Contributions are what make the open source community such an amazing place to learn, inspire, and create. Any contributions you make are greatly appreciated.

Contribute on proposed features

1. Choose any open issue from here.
2. Comment on the issue: Can I work on this? and get assigned.
3. Make changes to your fork and send a PR.

Otherwise just create the issue yourself, and we'll discuss and assign you to it if serves the project !

To create a PR:

Follow the given link to make a successful and valid PR: https://help.github.com/articles/creating-a-pull-request/

To send a PR, follow these rules carefully, otherwise your PR will be closed:

1. Make PR title in this formats:

Fixes #IssueNo : Name of Issue

Feature #IssueNo : Name of Issue

Enhancement #IssueNo : Name of Issue

According to what type of issue you believe it is.

For any doubts related to the issues, i.e., to understand the issue better etc, comment down your queries on the respective issue.

License

Distributed under the MIT License. See LICENSE for more information.

Contact

Erwin Lejeune - @spida_rwin - [email protected]

Contributors

Everyone part of the original team or that assisted throughout the development.

• Nicolas Filliol
• Jan Tiepelt
• Giovanni Alexander Bergamaschi
• Oleksandr Koreiba
• Erwin Lejeune