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Navigation #8

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a44d2f9
formatting
knickels Aug 13, 2020
cc1130a
formatting
knickels Aug 13, 2020
52dd6d0
formatting
knickels Aug 13, 2020
300ad2d
formatting
knickels Aug 13, 2020
1c6e5e7
formatting
knickels Aug 13, 2020
137f78c
looking at sim smoothness
knickels Aug 13, 2020
ca54ceb
improve smoothness issue #7
knickels Aug 14, 2020
583e0ce
change material color back
knickels Aug 14, 2020
24b3023
Merge pull request #1 from richardw05/navigation
knickels Sep 4, 2020
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36 changes: 25 additions & 11 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@ I had to change the turtlebot3 gazebo sim to run with no gui (slow computer). I

1. Copy the file
```
cp `rospack find turtlebot3_gazebo`/launch/turtlebot3_world.launch `rospack find mybot_gazebo`/launch
cp `` `rospack find turtlebot3_gazebo` ``/launch/turtlebot3_world.launch `` `rospack find mybot_gazebo` ``/launch
```
2. Using your [favorite text editor](http://vim.org), edit `turtlebot3_world.launch` and add
`<arg name="gui" default="false"/>` below launch. Now change
Expand Down Expand Up @@ -82,7 +82,7 @@ roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=/tmp/test
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
```

6. In rviz, send a few `2D Navigation Goals` (click on `2D Nav Goal and click/drag to set position/orientation) and watch the robot autonomously navigate to the goal.
6. In rviz, send a few `2D Navigation Goals` (click on ``2D Nav Goal`` and click/drag to set position/orientation) and watch the robot autonomously navigate to the goal.

Close all terminals, you are done with the turtlebot3 simulation.

Expand All @@ -105,7 +105,7 @@ to
```

2. Copy and modify `turtlebot3_slam.launch`
* cp ``rospack find turtlebot3_slam``/launch/turtlebot3_slam.launch ``rospack find mybot_navigation``/launch/mybot_slam.launch
* cp `` `rospack find turtlebot3_slam` ``/launch/turtlebot3_slam.launch `` `rospack find mybot_navigation` ``/launch/mybot_slam.launch
* change line 8-11 from:
```
<!-- TurtleBot3 -->
Expand All @@ -130,24 +130,32 @@ to
to match what turtlebot_slam expects.

4. In Terminal 1, launch the gazebo world
`roslaunch mybot_gazebo mybot_tb3_world.launch`
```
roslaunch mybot_gazebo mybot_tb3_world.launch
```

5. In Terminal 2, start map building (also starts rviz)
`roslaunch mybot_navigation mybot_slam.launch slam_methods:=gmapping`
```
roslaunch mybot_navigation mybot_slam.launch slam_methods:=gmapping
```

6. In Terminal 3, start teleop
`roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch`
```
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
```

### Saving the map
1. In Terminal 4, save the map to some file path
`rosrun map_server map_saver -f /tmp/test_map`
```
rosrun map_server map_saver -f /tmp/test_map
```

### Loading the map
Close all previous terminals and run the following commands below. Once loaded, use rviz to set navigation waypoints and the robot should move autonomously.

1. Copy and modify `turtlebot3_navigation.launch`

* cp `rospack find turtlebot3_navigation`/launch/turtlebot3_navigation.launch `rospack find mybot_navigation`/launch/turtlebot3_navigation.launch
* cp `` `rospack find turtlebot3_navigation` ``/launch/turtlebot3_navigation.launch `` `rospack find mybot_navigation` ``/launch/turtlebot3_navigation.launch
* change line 8-11 from:
```
<!-- TurtleBot3 -->
Expand All @@ -168,15 +176,21 @@ to
```

2. In Terminal 1, launch the Gazebo world
`roslaunch mybot_gazebo mybot_tb3_world.launch`
```bash
roslaunch mybot_gazebo mybot_tb3_world.launch
```

3. In Terminal 2, start navigating with the map (will start rviz too)
`roslaunch mybot_navigation mybot_navigation.launch map_file:=/tmp/test_map.yaml`
```
roslaunch mybot_navigation mybot_navigation.launch map_file:=/tmp/test_map.yaml
```

4. In rviz, estimate initial pose - click `2D Pose Estimate` and click the approximate location of the robot on the map, and drag to indicate the direction.

5. In Terminal 3, start teleop and move the robot around. The estimated positions should converge on the true position pretty quickly.
`roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch`
```
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
```

6. In rviz, send a few `2D Navigation Goals` (click on `2D Nav Goal and click/drag to set position/orientation) and watch the robot autonomously navigate to the goal.

Expand Down
7 changes: 3 additions & 4 deletions src/mybot_description/urdf/mybot.gazebo
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Original file line number Diff line number Diff line change
Expand Up @@ -25,9 +25,9 @@
<updateRate>10</updateRate>
<leftJoint>left_wheel_hinge</leftJoint>
<rightJoint>right_wheel_hinge</rightJoint>
<wheelSeparation>0.4</wheelSeparation>
<wheelSeparation>0.25</wheelSeparation>
<wheelDiameter>0.2</wheelDiameter>
<torque>10</torque>
<wheelTorque>10</wheelTorque>
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
Expand All @@ -48,7 +48,6 @@
<material>Gazebo/Blue</material>
</gazebo>


<gazebo reference="camera">
<material>Gazebo/Green</material>
<sensor type="camera" name="camera1">
Expand Down Expand Up @@ -98,7 +97,7 @@
</horizontal>
</scan>
<range>
<min>0.10</min>
<min>0.20</min>
<max>30.0</max>
<resolution>0.01</resolution>
</range>
Expand Down
23 changes: 12 additions & 11 deletions src/mybot_description/urdf/mybot.xacro
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Expand Up @@ -6,7 +6,7 @@
<xacro:property name="cameraMass" value="0.1"/>

<xacro:include filename="$(find mybot_description)/urdf/mybot.gazebo" />
<xacro:include filename="$(find mybot_description)/urdf/materials.xacro" />
<!-- <xacro:include filename="$(find mybot_description)/urdf/materials.xacro" /> -->
<xacro:include filename="$(find mybot_description)/urdf/macros.xacro" />


Expand All @@ -23,7 +23,7 @@
/>
</inertial>

<collision name='collision'>
<collision name='chassis_collision'>
<geometry>
<box size=".4 .2 .1"/>
</geometry>
Expand All @@ -36,11 +36,10 @@
</geometry>
</visual>


<collision name='caster_collision'>
<collision name='caster_rear_collision'>
<origin xyz="-0.15 0 -0.05" rpy=" 0 0 0"/>
<geometry>
<sphere radius="0.05"/>
<sphere radius="0.049"/>
</geometry>
<surface>
<friction>
Expand All @@ -54,17 +53,17 @@
</surface>
</collision>

<visual name='caster_visual'>
<visual name='caster_rear_visual'>
<origin xyz="-0.15 0 -0.05" rpy=" 0 0 0"/>
<geometry>
<sphere radius="0.05"/>
<sphere radius="0.049"/>
</geometry>
</visual>

<collision name='caster_front_collision'>
<origin xyz="0.15 0 -0.05" rpy=" 0 0 0"/>
<geometry>
<sphere radius="0.05"/>
<sphere radius="0.049"/>
</geometry>
<surface>
<friction>
Expand All @@ -81,27 +80,29 @@
<visual name='caster_front_visual'>
<origin xyz="0.15 0 -0.05" rpy=" 0 0 0"/>
<geometry>
<sphere radius="0.05"/>
<sphere radius="0.049"/>
</geometry>
</visual>

</link>


<link name="left_wheel">
<!--origin xyz="0.1 0.13 0.1" rpy="0 1.5707 1.5707"/-->

<collision name="collision">
<origin xyz="0 0 0" rpy="0 1.5707 1.5707"/>
<geometry>
<cylinder radius="0.1" length="0.05"/>
</geometry>
</collision>

<visual name="left_wheel_visual">
<origin xyz="0 0 0" rpy="0 1.5707 1.5707"/>
<geometry>
<cylinder radius="0.1" length="0.05"/>
</geometry>
</visual>

<inertial>
<origin xyz="0 0 0" rpy="0 1.5707 1.5707"/>
<mass value="5"/>
Expand Down Expand Up @@ -192,7 +193,7 @@

<joint name="hokuyo_joint" type="fixed">
<axis xyz="0 1 0" />
<origin xyz=".15 0 .1" rpy="0 0 0"/>
<origin xyz="0.15 0 .085" rpy="0 0 0"/>
<parent link="chassis"/>
<child link="hokuyo"/>
</joint>
Expand Down
2 changes: 1 addition & 1 deletion src/mybot_gazebo/launch/mybot_world.launch
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Expand Up @@ -10,7 +10,7 @@

<include file="$(find gazebo_ros)/launch/empty_world.launch">
<!--arg name="world_name" value="$(find mybot_gazebo)/worlds/mybot.world"/-->
<arg name="world_name" value="$(find mybot_gazebo)/worlds/turtlebot_playground.world"/>
<!-- <arg name="world_name" value="$(find mybot_gazebo)/worlds/turtlebot_playground.world"/> -->
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="gui" value="$(arg gui)"/>
Expand Down