rureverek / turtlebot3_local_planner_benchmark

Simulation in Gazebo in Ros with Turtlebot3 Model to compare performance of local planners: DWA and TEB.

ROS Navigation stack local planner benchmark with Turtlebot3 Model

Requirements:

• ROS Noetic Desktop Full
• Git
• Ubuntu 20.04
• Modified Navigation package for potential field planner

alternative: use provided Docker Image:

docker pull piotrmik/test
docker run -it --env="DISPLAY=host.docker.internal:0.0" --env="scenario=<>" piotrmik/test

Build and installation

If the requirements are met, jump to Install package.

Install ROS:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt install curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update
sudo apt install ros-noetic-desktop-full

Source setup.bash

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

Init rosdep

sudo apt install python3-rosdep
sudo rosdep init
rosdep update

Init catkin

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make

Install git

sudo apt install git

Install package

Clone repo

cd ~/catkin_ws/src
git clone https://github.com/rureverek/turtlebot3_local_planner_benchmark.git

Source workspace and Install dependencies

cd ~/catkin_ws
echo "source $(pwd)/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
rosdep install turtlebot3_local_planner_sim

Build package

cd ~/catkin_ws
catkin_make

Configure environment

in ~/.bashrc

echo "export TURTLEBOT3_MODEL=waffle_pi" >> ~/.bashrc
echo "export GAZEBO_PLUGIN_PATH=~/catkin_ws/src/turtlebot3_local_planner_benchmark/plugins" >> ~/.bashrc
source ~/.bashrc

Run the simulation

DWA Planner: roslaunch turtlebot3_local_planner_sim run_simulation_dwa.launch scenario:=<name-of-scenario>

Standalone:

DWAPlannerROS:
  potential_planner: False

Potential Field planner:

DWAPlannerROS:
  potential_planner: True

(param/dwa_local_planner_params_waffle_pi.yaml)

TEB Planner: roslaunch turtlebot3_local_planner_sim run_simulation_teb.launch scenario:=<name-of-scenario>

Scenarios currently supported:

• Static
• Dynamic_simple
• Dynamic_complex
• Maze
• Narrow
• House
• Track
• Big_house
• Big_house_part_unknown

Note:

• Letter case matters when specifying scenario name in the run command

Dwa init	Dwa just before collision
Teb init	Teb avoiding dynamic obstacle