Differential robot simulated on Stage. You can add your own map, own robot. ROS nodes developed only include the wallfollowing robot using IR sensors. Wall distance is controlled by a Proportional controller. Integral and Derivative gain may be needed but are not used here.
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This simulation package was developed during the Robotcraft '19 program. A basic right hand follower algorithm was provided by the supervisers but we decided to tune a P(ID) controller, which resulted in a smoother drive than anyone for the amazebot !
To setup ROS, run the "install_melodic.sh" script in the scripts directory using sh install_melodic.sh or chmod+x scripts/install_melodic.sh && ./ install_melodic.sh
You can also use tutorials. There's a bunch of them, including in the ros wiki.
Now that you have ROS, to setup the project on your local machine:
- Click on
Fork. - Go to your fork and
clonethe project to your local machine, in the "catkin_ws" folder. git clone https://github.com/robotcraft19/robotcraft-ros-navigation.git- Make sure you have rosdep install :
sudo apt-get install python-rosdep && sudo rosdep init cd ~/catkin_wsrosdep install --from-paths src --ignore-src -r -y- In the catkin workspace :
catkin_make
If everything went smoothly, you should now have this repo's package as well as its dependencies.
Running the nodes is quite easy as launch files were made.
- Circle Maze :
roslaunch robotcraft-ros-navigation circle_maze.launch - Worldmap Maze :
roslaunch robotcraft-ros-navigation reactive.launch - Square Maze :
roslaunch robotcraft-ros-navigation square_maze.launch
- Only one map available :
roslaunch robotcraft-ros-navigation teleop.launch
See the open issues for a list of proposed features (and known issues).
Contributions are what make the open source community such an amazing place to learn, inspire, and create. Any contributions you make are greatly appreciated.
- Choose any open issue from here.
- Comment on the issue:
Can I work on this?and get assigned. - Make changes to your fork and send a PR.
Otherwise just create the issue yourself, and we'll discuss and assign you to it if serves the project !
To create a PR:
Follow the given link to make a successful and valid PR: https://help.github.com/articles/creating-a-pull-request/
To send a PR, follow these rules carefully, otherwise your PR will be closed:
- Make PR title in this formats:
Fixes #IssueNo : Name of Issue
Feature #IssueNo : Name of Issue
Enhancement #IssueNo : Name of Issue
According to what type of issue you believe it is.
For any doubts related to the issues, i.e., to understand the issue better etc, comment down your queries on the respective issue.
Distributed under the MIT License. See LICENSE for more information.
Erwin Lejeune - @spida_rwin - [email protected]
Everyone part of the original team or that assisted throughout the development.