ME5413_Final_Project

NUS ME5413 Autonomous Mobile Robotics Final Project

Authors: Christina, Yuhang, Dongen, and Shuo

Dependencies

• System Requirements:
  • Ubuntu 20.04 (18.04 not yet tested)
  • ROS Noetic (Melodic not yet tested)
  • C++11 and above
  • CMake: 3.0.2 and above
• This repo depends on the following standard ROS pkgs:
  • roscpp
  • rospy
  • rviz
  • std_msgs
  • nav_msgs
  • geometry_msgs
  • visualization_msgs
  • tf2
  • tf2_ros
  • tf2_geometry_msgs
  • pluginlib
  • map_server
  • gazebo_ros
  • jsk_rviz_plugins
  • jackal_gazebo
  • jackal_navigation
  • velodyne_simulator
  • teleop_twist_keyboard
  • realsense2_camera
  • realsense2_camera_msgs
  • realsense2_description
  • spatio_temporal_voxel_layer
  • global_planner
  • pcl
  • cv_bridge
  • smach_ros
• And this gazebo_model repositiory

Installation

This repo is a ros workspace, containing three rospkgs:

• interactive_tools are customized tools to interact with gazebo and your robot
• jackal_description contains the modified jackal robot model descriptions
• me5413_world the main pkg containing the gazebo world, and the launch files

Note: If you are working on this project, it is encouraged to fork this repository and work on your own fork!

After forking this repo to your own github:

# Clone your own fork of this repo (assuming home here `~/`)
cd
git clone https://github.com/<YOUR_GITHUB_USERNAME>/ME5413_Final_Project.git
cd ME5413_Final_Project

# Install all dependencies
rosdep install --from-paths src --ignore-src -r -y
sudo apt install ros-noetic-librealsense2*
sudo apt install ros-noetic-realsense2-*
sudo apt install ros-noetic-spatio-temporal-voxel-layer
sudo apt install ros-noetic-global-planner
sudo apt install ros-noetic-dwa-local-planner
sudo apt install ros-noetic-pcl-*
sudo apt install ros-noetic-cv-bridge
sudo apt install ros-noetic-smach-ros
sudo apt install tesseract-ocr
pip install pytesseract


# Build
catkin_make
# Source 
source devel/setup.bash

To properly load the gazebo world, you will need to have the necessary model files in the ~/.gazebo/models/ directory.

There are two sources of models needed:

• Gazebo official models

  # Create the destination directory
  cd
  mkdir -p .gazebo/models
  
  # Clone the official gazebo models repo (assuming home here `~/`)
  git clone https://github.com/osrf/gazebo_models.git
  
  # Copy the models into the `~/.gazebo/models` directory
  cp -r ~/gazebo_models/* ~/.gazebo/models

• Our customized models

  # Copy the customized models into the `~/.gazebo/models` directory
  cp -r ~/ME5413_Final_Project/src/me5413_world/models/* ~/.gazebo/models

Usage

0. Gazebo World

This command will launch the gazebo with the project world

# Launch Gazebo World together with our robot
roslaunch me5413_world world.launch

1. Manual Control

If you wish to explore the gazebo world a bit, we provide you a way to manually control the robot around:

# Only launch the robot keyboard teleop control
roslaunch me5413_world manual.launch

Note: This robot keyboard teleop control is also included in all other launch files, so you don't need to launch this when you do mapping or navigation.

2. Mapping

2.1 ALOAM Mapping

# Launch ALOAM Mapping
roslaunch me5413_world aloam_mapping.launch

After finishing mapping, run the following command in the thrid terminal to save the map:

# Save the map as `my_map` in the `maps/` folder
roscd me5413_world/maps/

# This will periodically save .pcd map to the directory, use at the end of mapping to save space
rosrun pcl_ros pointcloud_to_pcd input:=/laser_cloud_surround

# Publish .pcd map to map topic 
rosrun pcd2pgm pcd2topic _file_directory:="./" _file_name:=<latest .pcd map name>

# Save the map in .pgm and .yaml format 
rosrun map_server map_saver -f my_map map:=/map

2.2 Gmapping

After launching Step 0, in the second terminal:

# Launch GMapping
roslaunch me5413_world mapping.launch

After finishing mapping, run the following command in the thrid terminal to save the map:

# Save the map as `my_map` in the `maps/` folder
roscd me5413_world/maps/
rosrun map_server map_saver -f my_map map:=/map

3. Navigation

Once completed Step 2 mapping and saved your map, quit the mapping process.

Then, in the second terminal:

# Load a map and launch AMCL localizer
roslaunch me5413_world navigation.launch

Student Tasks

1. Map the environment

• You may use any SLAM algorithm you like, any type:
  • 2D LiDAR
  • 3D LiDAR
  • Vision
  • Multi-sensor
• Verify your SLAM accuracy by comparing your odometry with the published /gazebo/ground_truth/state topic (nav_msgs::Odometry), which contains the gournd truth odometry of the robot.
• You may want to use tools like EVO to quantitatively evaluate the performance of your SLAM algorithm.

2. Using your own map, navigate your robot

• From the starting point, move to the given pose within each area in sequence

  • Assembly Line 1, 2
  • Random Box 1, 2, 3, 4
  • Delivery Vehicle 1, 2, 3

• We have provided you a GUI in RVIZ that allows you to click and publish these given goal poses to the /move_base_simple/goal topic:

  

• We also provides you four topics (and visualized in RVIZ) that computes the real-time pose error between your robot and the selelcted goal pose:

  • /me5413_world/absolute/heading_error (in degrees, wrt world frame, std_msgs::Float32)
  • /me5413_world/absolute/position_error (in meters, wrt world frame, std_msgs::Float32)
  • /me5413_world/relative/heading_error (in degrees, wrt map frame, std_msgs::Float32)
  • /me5413_world/relative/position_error (in meters wrt map frame, std_msgs::Float32)

Contribution

You are welcome contributing to this repo by opening a pull-request

We are following:

• Google C++ Style Guide,
• C++ Core Guidelines,
• ROS C++ Style Guide

License

The ME5413_Final_Project is released under the MIT License