srividyaprasad / robonautica_iisc_rosws

This repository contains code and instructions for autonomous navigation of a TortoiseBotProMax using various algorithms in ROS.

TortoiseBotProMax Autonomous Navigation

This repository contains code and instructions for autonomous navigation of a TortoiseBotProMax using various algorithms in ROS. Below, you will find information about the algorithms used, references, completed tasks, and commands to run.

Algorithms Used:

1. Aruco Scanning using OpenCV: Aruco marker detection is used for robot localization.
2. Gmapping for Map Generation: Gmapping is employed to create a map of the environment.
3. MoveBase for Navigation: MoveBase is used for robot navigation to predefined waypoints.
4. AMCL for Localization: AMCL (Adaptive Monte Carlo Localization) is used for precise localization of the robot.
5. base_local_planner for Path Planning: The DWA (Dynamic Window Approach) planner is utilized for path planning and obstacle avoidance.

References:

• ROS Wiki - Setting up the Navigation Stack for TurtleBot: ROS Wiki
• GitHub - ROS Course Part 2 - navigate_goal.py: GitHub

Tasks Completed:

• Mapping (Manually): A map of the environment has been created manually using Gmapping.
• Aruco Marker Scanning Achieved: The robot can detect and scan IDs of Aruco markers in the environment.
• Waypoint poses calculated: After scanning ID, rostopic echo was used to find the pose coordinates and save to a text file.
• Autonomous Navigation Package and Launch files created: Autonomous navigation setup has been successfully configured.
• Path Planning to Waypoints Done: The robot can plan paths to waypoints of Aruco poses.
• Obstacle Avoidance Done: The robot's footprint size has been increased to avoid obstacles and corners in its path.
• Navigation to Waypoints: The robot navigates to the sequence of waypoints and pauses for a duration of 30 s.
• Speed of robot has been increased to reduce the time of autonomous navigation.

Commands to Run:

After bringing up Gazebo model and RViz using given launch files,

cd catkin_ws/src
rosrun map_server map_server map.yaml
roslaunch tortoisebotpromax_navigation amcl.launch
roslaunch tortoisebotpromax_navigation move_base.launch
cd Robonautica_ws/Scripts
python nav_to_waypoints.py