robots_roboticamovel_2018_2

Repo with the robots used at the Mobile Robotic Class 2018-2

Stage sim	Rviz visualization

Installation

This setup was tested in ROS Kinetic, running on Ubuntu 16.04 LTS.

Download from github and install the dependencies:

# Download the repo files to your ROS Catkin Workspace
$ cd ~/catkin_ws/src/
$ git clone https://github.com/h3ct0r/robots_roboticamovel_2018_2

# Use rosdep to install the package dependences 
$ cd ~/catkin_ws/
$ rosdep install --from-paths src/robots_roboticamovel_2018_2 --ignore-src -r -y

# Update information into your ROS Workspace
$ catkin_make
$ source devel/setup.bash

Running the nodes

1.Choose one of the several options to run the Stage Simulator:

• To use a differencial robot (Pioneer DX):

# Empty map
$ roslaunch robots_roboticamovel_2018_2 empty_differential.launch

# Simple obstacles map
$ roslaunch robots_roboticamovel_2018_2 simple_differential.launch

• To use a holonomic robot (Turtlebot):

# Empty map
$ roslaunch robots_roboticamovel_2018_2 empty_holonomic.launch

# Simple obstacles map
$ roslaunch robots_roboticamovel_2018_2 simple_holonomic.launch

2.After the robot and the simulation have been started:

• Create the map server:

# If using the empy map
$ rosrun map_server map_server `rospack find robots_roboticamovel_2018_2`/stage_models/bitmaps/empty.yaml
# if using simple map
$ rosrun map_server map_server `rospack find robots_roboticamovel_2018_2`/stage_models/bitmaps/cave.yaml

• The ft (transformations) between the map and the odometer information:

$ rosrun tf static_transform_publisher -8 -8 0 0 0 0 1 /odom /map 10

• Visuzalize the robot odometry and the laser scan:

$ rosrun rviz rviz -d 'rospack find robots_roboticamovel_2018_2' /rviz/simple_robot.rviz

3.Running the teleop node to control the robot with the keyboard:

$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/cmd_vel

Todos

• Add more robots

License

MIT

Free Software, Hell Yeah!