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Project3

README.md

Project #3 - Where Am I?

Summary of Tasks

Welcome to the Where Am I? localization project! In this project, you will learn to utilize ROS AMCL package to accurately localize a mobile robot inside a map in the Gazebo simulation environments.

  • Create a ROS package that launches a custom robot model in a custom Gazebo world
  • Utilize the ROS AMCL package and the Tele-Operation / Navigation Stack to localize the robot
  • Explore, add, and tune specific parameters corresponding to each package to achieve the best possible localization results

Directory Structure

.Project3
├── ball_chaser                                 # ball_chaser package
│   ├── CMakeLists.txt                          # compiler instructions
│   ├── launch                                 	# launch folder for launch files
│   │   └── ball_chaser.launch
│   ├── package.xml                             # package info
│   ├── src                                     # source folder for C++ scripts
│   │   ├── drive_bot.cpp
│   │   └── process_image.cpp
│   └── srv                                     # service folder for ROS services
│       └── DriveToTarget.srv
├── images                                      # output results
│   └── demo.gif
├── my_robot                                    # my_robot package
│   ├── CMakeLists.txt                          # compiler instructions
│   ├── config                                  # config files
│   │   ├── base_local_planner_params.yaml
│   │   ├── costmap_common_params.yaml
│   │   ├── global_costmap_params.yaml
│   │   ├── local_costmap_params.yaml
│   │   └── __MACOSX
│   ├── launch                                  # launch folder for launch files
│   │   ├── amcl.launch
│   │   ├── robot_description.launch
│   │   └── world.launch
│   ├── maps                                    # map details
│   │   ├── map.pgm
│   │   └── map.yaml
│   ├── meshes
│   │   └── hokuyo.dae
│   ├── package.xml                             # package info
│   ├── RVIZLaunchConfig.rviz                   # RVIZ config file
│   ├── urdf                                    # urdf folder for xacro files
│   │   ├── my_robot.gazebo
│   │   └── my_robot.xacro
│   └── worlds                                  # world folder for world files
│       ├── empty.world
│       └── UdacityOffice.world
├── pgm_map_creator                             # pgm_map_creator package
│   ├── CMakeLists.txt                          # compiler instructions
│   ├── launch                                  # launch folder for launch files
│   │   └── request_publisher.launch
│   ├── LICENSE
│   ├── maps
│   │   └── map.pgm
│   ├── msgs
│   │   ├── CMakeLists.txt
│   │   └── collision_map_request.proto
│   ├── package.xml                             # package info
│   ├── README.md
│   ├── src
│   │   ├── collision_map_creator.cc
│   │   └── request_publisher.cc
│   └── world
│       ├── udacity_mtv
│       └── UdacityOffice.world
├── README.md
└── teleop_twist_keyboard                       # teleop_twist_keyboard package
    ├── CHANGELOG.rst
    ├── CMakeLists.txt                          # compiler instructions
    ├── package.xml                             # package info
    ├── README.md
    └── teleop_twist_keyboard.py

Build Instructions

  1. Open Terminal/CLI by using Ctrl + Alt + T shortcut.
  2. Create and initialize a catkin_ws
mkdir -p /<your_dir>/catkin_ws/src
cd /<your_dir>/catkin_ws/src
catkin_init_workspace
  1. Clone this repo inside /<your_dir>/catkin_ws/src
  2. Ensure ros-kinetic-navigation, ros-kinetic-map-server, ros-kinetic-move-base, ros-kinetic-amcl packages are installed. If not, install by running the following:
sudo apt-get install ros-kinetic-navigation
sudo apt-get install ros-kinetic-map-server
sudo apt-get install ros-kinetic-move-base
sudo apt-get install ros-kinetic-amcl
  1. Switch to catkin_ws
cd /<your_dir>/catkin_ws
  1. Build the code and ensure there are no build errors reported
catkin_make
  1. Launch RViz and Gazebo. This may take a while upon initial loading.
source devel/setup.bash
roslaunch my_robot world.launch
  1. Open another Terminal/CLI by using Ctrl + Alt + T shortcut. Switch to catkin_ws
cd /<your_dir>/catkin_ws
  1. Run map_server, amcl and move_base nodes, which can be done by executing amcl.launch
source devel/setup.bash
roslaunch my_robot amcl.launch
  1. Test the performance of AMCL package.

    1. Option 1: Send 2D Navigation Goal The move_base will try to navigate your robot based on the localization. Based on the new observation and the odometry, the robot to further perform the localization. Click the 2D Nav Goal button in the toolbar, then click and drag on the map to send the goal to the robot. It will start moving and localize itself in the process.

    2. Option 2: Use teleop Node

    rosrun teleop_twist_keyboard teleop_twist_keyboard.py
    You could control your robot by keyboard commands now.

PGM Map Package Install Instructions

  1. Install dependencies
sudo apt-get install libignition-math2-dev protobuf-compiler
  1. Switch into src directory inside catkin_ws
cd <your_dir>/catkin_ws/src/
  1. Clone the repo
git clone https://github.com/hyfan1116/pgm_map_creator
  1. Build the package
cd ..
catkin_make
source devel/setup.bash

Teleop Package Install Instructions

  1. Switch into src directory inside catkin_ws
cd <your_dir>/catkin_ws/src/
  1. Clone the repo
git clone https://github.com/ros-teleop/teleop_twist_keyboard
  1. Build the package
cd ..
catkin_make
source devel/setup.bash