FinDER v3 Robot repository

Table of Contents

• Requirements
• Installation
• Usage
• Simulation
  • Simulation using Fake Node
  • Simulation using Gazebo

Requirements

• ROS

Installing dependencies:

sudo apt-get install ros-melodic-joy ros-melodic-teleop-twist-joy ros-melodic-teleop-twist-keyboard ros-melodic-laser-proc ros-melodic-rgbd-launch ros-melodic-depthimage-to-laserscan ros-melodic-rosserial-arduino ros-melodic-rosserial-python ros-melodic-rosserial-server ros-melodic-rosserial-client ros-melodic-rosserial-msgs ros-melodic-amcl ros-melodic-map-server ros-melodic-move-base ros-melodic-urdf ros-melodic-xacro ros-melodic-compressed-image-transport ros-melodic-rqt-image-view ros-melodic-gmapping ros-melodic-navigation ros-melodic-interactive-markers ros-melodic-dwa-local-planner ros-melodic-cv-camera ros-melodic-hector-slam ros-melodic-effort-controllers

Installation

1. Clone this repository

git clone https://github.com/TRA-UNAM/FinderV3.git

2. Install the eBUS_SDK

Change to the "ToInstall" directory:

cd ~/FinderV3/ToInstall/

Execute the file eBUS_SDK_4.1.7.3988_Ubuntu-14.04-x86_64.run:

sudo ./eBUS_SDK_4.1.7.3988_Ubuntu-14.04-x86_64.run

3. Compile the ROS workspace:

cd ~/FinderV3/catkin_ws

catkin_make

El último comando debe ejecutarse hasta llegar al 100% y sin mostrar mensajes de error (en letras rojas).

“source” del archivo “setup”

Es necesario agregar cada nuevo workspace que se compile con catkin al entorno de ROS. Para ello, correr el siguiente comando que hace “source” del nuevo archivo setup que se generó:

source ~/FinderV3/catkin_ws/devel/setup.bash

para no ejecutar este comando cada nueva terminal, es necesario agregar la siguiente línea al archivo .bashrc:

source ~/FinderV3/catkin_ws/devel/setup.bash

Usage

Simulation

Simulation using Fake Node

These instructions refer to run the simulation on RViz using the finder_fake package. In order to run that execute the command

roslaunch finder_fake finder_fake.launch

If the simulation was successfully launched, execute the following command to teleoperate the robot with the keyboard:

rosrun finder_teleop finder_teleop_key.py

Simulation using Gazebo

These instructions refer to run the simulation on gazebo using the gazebo_ros package, which is installed by default with every ROS distribution. More info here: http://gazebosim.org/tutorials?tut=ros_overview

Before running the simulation, execute from the command line or add the following line to your .bashrc file (or .zshrc):

export GAZEBO_MODEL_PATH=${HOME}/FinderV3/catkin_ws/src/simulation/finder_gazebo/models

1. Simulate in empty world

Execute the command:

roslaunch finder_gazebo finder_empty_world.launch

to test the FinDERv3 robot base in the gazebo default environment.

2. Simulate in the Turtelbot3 maze

Execute the command:

roslaunch finder_gazebo finder_stage_4.launch

to test the FinDERv3 robot base in the turtlebot3 maze.

3. Simulate in a test world

Execute the command:

roslaunch finder_gazebo finder_world_test.launch

to test the FinDERv3 robot base in a world with rough terrain.

4. Simulate in a test circuit

Execute the command:

roslaunch finder_gazebo finder_circuit_2.launch

to test the FinDERv3 robot base in circuit.

6. Simulate in a RoboCup Rescue test scenario

Execute the command:

roslaunch finder_gazebo finder_crossover_ramps.launch

to test the FinDERv3 robot base in the Crossover Ramps test scenario.

Drive the FinDER v3 Robot

Execute the following command to teleoperate the robot base with the keyboard:

roslaunch finder_teleop finder_teleop_key.launch