This Repo contains launch files for Gmapping, Hector Map and Rtab Map. It also includes launch files for Gazebo simulations as well as Real-time hardware implementation.
Note, we modified our model to navigate a bit better. For example, we added an extra caster wheel to reduce bouncing laser during abrupt stops. Also added the depth camera plugin for RTAB-MAP. We understand that our robot model requires additional tweaking as it has some weird navigational kinks, but most of the problems are properly tuned in config files. Any suggestions would be appreciated. Nevertheless, our model is sufficient for playing with the ROS navigation stack.
Add these in .bashrc file for single system ROS implementation
export ROS_MASTER_URI=http://localhost:11311/
export ROS_HOSTNAME=localhost
Add these in .bashrc file for multi system ROS implementation
export ROS_MASTER_URI=http://<HOS_IP_ADDRESS>/
export ROS_HOSTNAME=<HOS_IP_ADDRESS>
export ROS_IP=<HOS_IP_ADDRESS>
- RUNNING ROSCORE IN THE BACKGROUND IS EXTREAMLY IMPORTANTCreating the Map
Run the following commands below. Use the teleop to move the robot around to create an accurate and thorough map.
In Terminal 1, launch the Gazebo world
roslaunch mybot_gazebo mybot_world.launch
In Terminal 2, start map building
roslaunch mybot_navigation gmapping_demo.launch
In Terminal 3, launch rviz and set the following parameters:
roslaunch mybot_description mybot_rviz_gmapping.launch
In Terminal 4, start teleop
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
Saving the Map
In Terminal 5, save the map to some file path
rosrun map_server map_saver -f ~/mybot_ws/src/mybot_navigation/maps/test_map
Loading the Map followed by localization
Close all previous terminals and run the following commands below. Once loaded, use rviz to set navigation waypoints and the robot should move autonomously.
In Terminal 1, launch the Gazebo world
roslaunch mybot_gazebo mybot_world.launch
In Terminal 2, start map building
roslaunch mybot_navigation amcl_demo.launch
In Terminal 3, launch rviz
roslaunch mybot_description mybot_rviz_amcl.launch
Creating the Map
Run the following commands below. Use the teleop to move the robot around to create an accurate and thorough map.
In Terminal 1, launch the Gazebo world
roslaunch mybot_gazebo mybot_world.launch
In Terminal 2, start map building
roslaunch mybot_navigation tutorial.launch
In Terminal 3, launch rviz and set the following parameters:
roslaunch mybot_description mybot_rviz_gmapping.launch
In Terminal 4, start teleop
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
Saving the Map
In Terminal 5, save the map to some file path
rosrun map_server map_saver -f ~/mybot_ws/src/mybot_navigation/maps/hector_map
Loading the Map followed by localization
Close all previous terminals and run the following commands below. Once loaded, use rviz to set navigation waypoints and the robot should move autonomously.
In Terminal 1, launch the Gazebo world
roslaunch mybot_gazebo mybot_world.launch
In Terminal 2, start map building
roslaunch mybot_navigation amcl_demo.launch
In Terminal 3, launch rviz
roslaunch mybot_description mybot_rviz_amcl.launch
Creating the Map
Run the following commands below. Use the teleop to move the robot around to create an accurate and thorough map.
In Terminal 1, launch the Gazebo world
roslaunch mybot_gazebo mybot_world.launch
In Terminal 2, start map building
roslaunch mybot_navigation rtab.launch
In Terminal 3, launch rviz and set the following parameters:
roslaunch mybot_description mybot_rviz_gmapping.launch
In Terminal 4, start teleop
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
Saving the Map
Map server is not required in RTAB-MAP
Loading the Map followed by localization
Close all previous terminals and run the following commands below. Once loaded, use rviz to set navigation waypoints and the robot should move autonomously.
In Terminal 1, launch the Gazebo world
roslaunch mybot_gazebo mybot_world.launch
In Terminal 2, start map building
roslaunch mybot_navigation rtab.launch localization:=true
In Terminal 3, launch rviz
roslaunch mybot_description mybot_rviz_amcl.launch
Creating the Map
Run the following commands below. Use the teleop to move the robot around to create an accurate and thorough map.
In Terminal 1, launch the RPLidar launch file (IN RPi3 remote SLAVE PC)
roslaunch rplidar_ros view_rplidar.launch
In Terminal 2, launch the Arduino bridge launch file (IN RPi3 remote SLAVE PC)
roslaunch ros_arduino_python arduino.launch
In Terminal 3, start map building (IN MASTER PC)
roslaunch rosbot_navigation gmapping_demo.launch
In Terminal 4, launch rviz and set the required parameters (IN MASTER PC)
roslaunch rosbot_urdf rviz.launch
In Terminal 5, start teleop (IN MASTER PC)
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
Saving the Map
In Terminal 6, save the map to some file path (IN MASTER PC)
rosrun map_server map_saver -f ~/gmap_rt_ws/src/mybot_navigation/maps/test_map
Loading the Map followed by localization
Close all previous terminals and run the following commands below. Once loaded, use rviz to set navigation waypoints and the robot should move autonomously.
In Terminal 1, launch the RPLidar launch file (IN RPi3 remote SLAVE PC)
roslaunch rplidar_ros view_rplidar.launch
In Terminal 2, launch the Arduino bridge launch file (IN RPi3 remote SLAVE PC)
roslaunch ros_arduino_python arduino.launch
In Terminal 3, start map building
roslaunch rosbot_navigation amcl_demo.launch
In Terminal 4, launch rviz and set the required parameters (IN MASTER PC)
roslaunch rosbot_urdf rviz.launch
Creating the Map
Run the following commands below. Use the teleop to move the robot around to create an accurate and thorough map.
In Terminal 1, launch the RPLidar launch file (IN RPi3 remote SLAVE PC)
roslaunch rplidar_ros view_rplidar.launch
In Terminal 2, launch the Arduino bridge launch file (IN RPi3 remote SLAVE PC)
roslaunch ros_arduino_python arduino.launch
In Terminal 3, start map building (IN MASTER PC)
roslaunch rosbot_navigation tutorial.launch
In Terminal 4, launch rviz and set the required parameters (IN MASTER PC)
roslaunch rosbot_urdf rviz.launch
In Terminal 5, start teleop (IN MASTER PC)
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
Saving the Map
In Terminal 6, save the map to some file path (IN MASTER PC)
rosrun map_server map_saver -f ~/gmap_rt_ws/src/mybot_navigation/maps/hector_map
Loading the Map followed by localization
Close all previous terminals and run the following commands below. Once loaded, use rviz to set navigation waypoints and the robot should move autonomously.
In Terminal 1, launch the RPLidar launch file (IN RPi3 remote SLAVE PC)
roslaunch rplidar_ros view_rplidar.launch
In Terminal 2, launch the Arduino bridge launch file (IN RPi3 remote SLAVE PC)
roslaunch ros_arduino_python arduino.launch
In Terminal 3, start map building
roslaunch rosbot_navigation amcl_demo.launch
In Terminal 4, launch rviz and set the required parameters (IN MASTER PC)
roslaunch rosbot_urdf rviz.launch
Creating the Map
Run the following commands below. Use the teleop to move the robot around to create an accurate and thorough map.
In Terminal 1, launch the RPLidar launch file (IN RPi3 remote SLAVE PC)
roslaunch rplidar_ros view_rplidar.launch
In Terminal 2, launch the Arduino bridge launch file (IN RPi3 remote SLAVE PC)
roslaunch ros_arduino_python arduino.launch
In Terminal 3, launch the kinect depth camera launch file (IN RPi3 remote SLAVE PC)
sudo chmod 777 -R /dev/bus/usb (one time use ,before running the launch file)
roslaunch freenect_launch freenect.launch depth_registration:=true data_skip:=2
In Terminal 4, start map building (IN MASTER PC)
roslaunch rosbot_navigation rtab.launch
In Terminal 5, launch rviz and set the required parameters (IN MASTER PC)
roslaunch rosbot_urdf rviz.launch
In Terminal 6, start teleop (IN MASTER PC)
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
Saving the Map
Map server is not required in RTAB-MAP
Loading the Map followed by localization
Close all previous terminals and run the following commands below. Once loaded, use rviz to set navigation waypoints and the robot should move autonomously.
In Terminal 1, launch the RPLidar launch file (IN RPi3 remote SLAVE PC)
roslaunch rplidar_ros view_rplidar.launch
In Terminal 2, launch the Arduino bridge launch file (IN RPi3 remote SLAVE PC)
roslaunch ros_arduino_python arduino.launch
In Terminal 3, launch the kinect depth camera launch file (IN RPi3 remote SLAVE PC)
sudo chmod 777 -R /dev/bus/usb (one time use ,before running the launch file)
roslaunch freenect_launch freenect.launch depth_registration:=true data_skip:=2
In Terminal 3, start map building (IN MASTER PC)
roslaunch rosbot_navigation rtab.launch localization:=true
In Terminal 4, launch rviz and set the required parameters (IN MASTER PC)
roslaunch rosbot_urdf rviz.launch