Korea Hydro & Nuclear Power - Autonomous Robotic Challenge 2021

• Quadruped robot with manipulator for this year
• For gripping motion, robotiq_2finger_grippers is used
  • gazebo_grasp_plugin is added

Homepage - click

Promotion Video click

NEWS article click

Please note that the world file is huge, so loading gazebo may take few minutes.

● Requirements

• Mainly tested on ROS Melodic version
• Make sure that you installed ROS desktop full version - refer the wiki page
  • It comes with Qt5, Gazebo, OpenCV version 3.2, cv_bridge
  • In other words, this repo depends on QT5, Gazebo, OpenCV, cv_bridge.
• Maker sure that you installed ros-control pacakges

$ sudo apt install ros-<YOUR_DISTRO>-ros-control ros-<YOUR_DISTRO>-ros-controllers
$ sudo apt install ros-<YOUR_DISTRO>-joy

• Make sure that your Cmake version is more recent than 3.19
  • Check it with $ cmake --version

$ wget https://github.com/Kitware/CMake/releases/download/v3.19.8/cmake-3.19.8.tar.gz
$ tar zxf cmake-3.19.8.tar.gz && cd cmake-3.19.8
$ ./bootstrap
$ make
$ sudo make install

$ sudo reboot
$ cmake --version 

• Make sure that your Gazebo version is at least 9.19.0
  • Updating Gazebo - reference link

$ sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
$ cat /etc/apt/sources.list.d/gazebo-stable.list
$ wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
$ sudo apt-get update
$ sudo apt-get upgrade

---

● How to use

• Clone the git

$ cd <your_workspace>/src
$ git clone --recursive https://github.com/Woojin-Seol/KVRC2021

• Add Gazebo Path ONLY ONCE, do NOT run below block again!!

$ cd KVRC2021/gazebo_map_for_khnp
$ echo "export GAZEBO_MODEL_PATH=:$GAZEBO_MODEL_PATH:$(pwd)/refracted_corridor_map:$(pwd)/rough_terrain_map:$(pwd)/stair_map:$(pwd)/qr_codes:$(pwd)/manipulator_map:$(pwd)/disturbance_map:$(pwd)/common" >> ~/.bashrc
$ . ~/.bashrc

• Build the package

$ cd <your_workspace_where_you_clone_this_repo>
$ catkin build
$ . devel/setup.bash

• Run launch file

$ roslaunch khnp_competition main.launch

● What you can change

• You can edit codes realted to control the robot. Currently, champ controller and temporal gripping controller is included in main.launch file.
• In detail, you can edit any files under pipebot_config/config directory.
• You can edit hardwareInterface of transmission in pipebot.urdf file to change the type of ROS controller.
  • Only from line 10 to line 245 of the .urdf file.
• Add your autonomous navigation algorithm code and controller in main.launch.
  • Open main.launch to edit

<?xml version="1.0"?>
<launch>

<!-- Edit this part with your own algorithms -->



<!-- Do not touch below!!!!!!!! -->
  ............

</launch>