This repository is based on the ETH courses Programming for Robotics - ROS which can provide great help in learning and applying ROS for begeinners
The project is one of the solutions of the excercises from the ETH courses. It aims to enable the SMB robot to perform target tracking, motion control, and emergency stop based on sensor information (such as odometry, laser scanning, IMU, etc.). Additionally, it focuses on mastering the use of fundamental ROS tools such as Gazebo, Rviz, Rqt, and bag files
The development of this project was greatly inspired and assisted by NelsenEW/eth-zurich-solution which has more details and guidance for the ETH excercises
PI controller is designed for SMB linear velocity control and PD controller is designed for SMB angular velocity control
You can also choose to use the constant linear velocity control method directly (as explained in smb_highlevel_controller/src/SmbHighlevelController.cpp), but need adjust the param collision_threshold（in config/default.yaml) to -3.2 to realize post collision stop
git clone this repo to the workspace directory
cd ~/path/to/Simulation-for-Super-Mega-Bot/src, initiate the workspace by catkin_init_workspace
cd .. to /Simulation-for-Super-Mega-Bot, compile the workspace by catkin build(recommended)
Set workspace environment by source devel/setup.bash, or revise .bashrc file with adding source ~/path/to/Simulation-for-Super-Mega-Bot/devel/setup.bash directly
If above steps all successed, now can try to run the simulation
Run the simulation through roslaunch smb_highlevel_controller smb_highlevel_controller.launch start_robot:="true". In this way, the SMB robot will operate normally and head towards the target, but eventually, it will collide with obstacles and will not stop
Gazebo display
In oder to realize the emergency stop function, you can run the simulation through one of the following commands
roslaunch smb_highlevel_controller smb_highlevel_controller.launch start_robot:=true auto_emergency_stop:=true prior_collision:=true
roslaunch smb_highlevel_controller smb_highlevel_controller.launch start_robot:=true auto_emergency_stop:=true post_collision:=true
The fomer will stop the SMB robot when the robot is close enough to the obstacle(prior_collision stop), while the latter will stop the robot after crashing with the obstacle(post_collision stop)
prior collision stop demo
post collision stop demo
Rqt display
Visualize the 3D point cloud and the laser scan by choosing topics /rslidar_scan and /scan
Visualize SMB robot by adding Robot Model plugin
Visualize coordinate frame by adding TF display plugin
Visualize markers near the pillar by adding Marker plugin
Rviz display
The bag file smb_navigation.bag which is located in /src/smb_highlevel_controller/bag contains sensor measurements from wheel odometry, inertial measurement unit (IMU) and laser scanner
You can play the bag by roslaunching ekf_localization.launch. When playing the bag, you can hit space to toggle paused
path plot of the bag
Rviz display of the bag