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Group_4_Coverage

[TOC]

Introduction

The aim of this project is to demonstrate multi-robot cooperation through a maze in the VREP simulation program. We are to make them perform a coverage task, one of two methods of terrain traversability.

System requirements

• Ubuntu 16.04 LTS (Xenial Xerus)

• ROS Kinetic

• V-REP PRO EDU 3.5.0 Linux 64

• RVIZ

Installation

Laptop with Linux:

  1. Install ROS kinetic - follow steps from: http://wiki.ros.org/kinetic/Installation/Ubuntu

  2. Create a catkin workspace - follow steps from: http://wiki.ros.org/catkin/Tutorials/create_a_workspace

  3. Download VREP simulation from: http://coppeliarobotics.com/files/V-REP_PRO_EDU_V3_5_0_Linux.tar.gz

  4. RVIZ - UserGuide of RVIZ: http://wiki.ros.org/rviz/UserGuide

  5. Prepare the repository

    Gitclone the repository to the created workspace

    $ cd coverage_ws
    $ git clone https://github.com/MichalBogoryja/Group_4_Coverage.git

    Compile turtlebot_ws

    $ cd ~/turtlebot_ws
    $ catkin_make

    Compile turtlebot_simulation

    $ cd ~/turtlebot_simulation
    $ catkin_make

    Source all

    $ cd coverage_ws
    $ source source_all.bash

Running the system

In order to run the system, following steps are to be executed:

  1. Run roscore in a terminal

    $ roscore

  2. Open a new Terminal & Run V-REP

    $ cd <VREP_folder_path>/
    $ ./vrep.sh

    Open the V-REP scene turtlebot_two_robots.ttt from Group_4_Coverage\coverage_ws\V-REP Simulations and press start.

  3. Open a new Terminal & Run the node operating RGB point cloud for the first robot

    $ cd coverage_ws
    $ source source_all.bash
    $ roslaunch rgb_pcd_kinect_fusion rgb_pcd_kinect_fusion_turtlebot1.launch

  4. Open a new Terminal & Run the node operating RGB point cloud for the second robot

    $ cd coverage_ws
    $ source source_all.bash
    $ roslaunch rgb_pcd_kinect_fusion rgb_pcd_kinect_fusion_turtlebot2.launch

  5. Open a new Terminal & Run the rviz

    $ cd coverage_ws
    $ source source_all.bash
    $ roslaunch vrep_turtlebot_simulation vrep_turtlebot_rviz_launch.launch

  6. Open a new Terminal & Run the node octomap for the first robot

    $ cd coverage_ws
    $ source source_all.bash
    $ roslaunch turtlebot_robot_launchers vrep_octomap_turtlebot1.launch

  7. Open a new Terminal & Run the node octomap for the second robot

    $ cd coverage_ws
    $ source source_all.bash
    $ roslaunch turtlebot_robot_launchers vrep_octomap_turtlebot2.launch

  8. Open a new Terminal & Run the node global mapping

    $ cd coverage_ws
    $ source source_all.bash
    $ roslaunch ms_vrep_ros_simulation global_mapping.launch

  9. Open a new Terminal & Run the node normal estimation for the first robot

    $ cd coverage_ws
    $ source source_all.bash
    $ roslaunch turtlebot_robot_launchers turtlebot_normal_estimation_turtlebot1.launch

  10. Open a new Terminal & Run the node normal estimation for the second robot

    $ cd coverage_ws
    $ source source_all.bash
    $ roslaunch turtlebot_robot_launchers turtlebot_normal_estimation_turtlebot2.launch

  11. Open a new Terminal & Run the node turtlebot traversability analysis for the first robot

    $ cd coverage_ws
    $ source source_all.bash
    $ roslaunch turtlebot_robot_launchers turtlebot_traversability_analysis_turtlebot1.launch

  12. Open a new Terminal & Run the node turtlebot traversability analysis for the second robot

    $ cd coverage_ws
    $ source source_all.bash
    $ roslaunch turtlebot_robot_launchers turtlebot_traversability_analysis_turtlebot2.launch

  13. Open a new Terminal & Run the node path planner for the first robot

    $ cd coverage_ws
    $ source source_all.bash
    $ roslaunch turtlebot_robot_launchers turtlebot_path_planner_turtlebot1.launch

  14. Open a new Terminal & Run the node path planner for the second robot

    $ cd coverage_ws
    $ source source_all.bash
    $ roslaunch turtlebot_robot_launchers turtlebot_path_planner_turtlebot2.launch

  15. Open a new Terminal & Run the node keyboard_teleop for steering the first robots through arrow keys

    $ cd coverage_ws
    $ source source_all.bash
    $ roslaunch turtlebot_teleop_keyboard keyboard_teleop_diff_drive_mux_turtlebot1.launch

  16. Open a new Terminal & Run the node keyboard_teleop for steering the second robots through arrow keys

    $ cd coverage_ws
    $ source source_all.bash
    $ roslaunch turtlebot_teleop_keyboard keyboard_teleop_diff_drive_mux_turtlebot2.launch

Main references

Recchiuto, Carmine & Nattero, Cristiano & Sgorbissa, Antonio & Zaccaria, Renato. (2014). "Coverage Algorithms for Search and Rescue with UAV Drones - abstract" C. Nattero, C.T. Recchiuto, A. Sgorbissa, R. Zaccaria, PISA 10-12 Dicember 2014.

Authors

Michal Bogoryja-Zakrzewski

Arnold Bukachi

Tengxiao He

Ishita Parekh

Haiwei Xu