srujanpanuganti / elsa_v2

ELSA_V2 - Explore, Localize, Map Simultaeneously and Act - Version 2.0

ELSA Robot

Elsa V2.0 is the extension for Elsa V1.0. This package is built to boost the capabilities of elsa in terms of Improved Localization, Powerful Actuation, Reduced Wheel Slippage and Drift, Boosted Payload capacity, Better choice of Electronics

For the Version 1.0 of elsa project visit this

Project Dependencies

• To install teleop-twist-keyboard

sudo apt-get install ros-melodic-teleop-twist-keyboard

• To install rosserial

sudo apt-get install ros-melodic-rosserial-arduino
sudo apt-get install ros-melodic-rosserial

Docs:

• Coordinate Transformations and Robot Dimensions can be found at docs/Robot dimensions and coordinate transformations.pdf
• More info about the references used is provided in the reference section

Finished tasks:

• Assemble Robot Platform, Motors, Encoders
• Interface encoders with Arduino Mega - Arduino Nano doesn't work when all encoders and all motors are interfaced
• Interface motors to Arduino Mega - Arduino Nano doesn't work when all encoders and all motors are interfaced
• Publish encoder ticks to the topics /flwheel, /rlwheel, /frwheel, /rrwheel for FrontLeft, RearLeft, FrontRight, RearRight
• Subscribe to /cmd_vel topic and move motors - Differential drive
• Use teleop_twist_keyboard node to move the mobile base

To Do:

• Setup Raspberry Pi 4B to run remote roscore
• Calculate Odometry using the /flwheel, /rlwheel, /frwheel, /rrwheel and publish the Odometry to /odom topic
• Interface imu and Publish imu to /imu/raw_data topic
• Subscribe to /cmd_vel topic and move motors - mechanum drive
• interface YDLIDAR X4 to the Robot and Publish LaserScan to /scan topic
• Construct chassis and fix imu and YDLIDAR properly
• Construct TF for the /odom, /base_link, /base_laser coordinate frames
• use robot_localization Extended-Kalman-Filter to filter and fuse /imu/raw_data and /odom to obtain /odom_filtered
• use gmapping package to do Simultaeneous Localization and Mapping

Results:

References:

• The arduino based base_controller takes some of the ideas from here
• Assembling the robot platform can be followed from here