This repository comprises code for trajectory planning, localization, and control of a differential drive robot.
The differential drive's URDF used in the package has been created modifying the URDF taken from the following repository
"roomba_robot by goncabrita", Link
To download the video of the complete exploration:
To save the map inside the simulation is needed Gmapping, to install:
$ sudo apt-get install ros-noetic-gmapping
For the computation of matrix equations is needed Eigen:
$ sudo apt-get install libeigen3-dev
Needed for camera vision and markers detection
$ sudo apt install python3-opencv
and
$ sudo apt-get install libzbar-dev
- Clone this repository inside the ROS workspace
- Compile using catkin_make
To run the simulation launch the final.launch file using
$ roslaunch progetto_esame final.launch
Once the robot returns to its starting position the map is automatically saved.
To get information on the task status use
$ rostopic echo /my_robot/task_status
To change the room order of exploration, in the planner_node.cpp file inside the src/ folder , modify the assignment of the _rooms variable in the class constructor
ArtificialPotentialPlanner::ArtificialPotentialPlanner(double x0, double y0, double yaw0){
..
//------- CASO 1
_rooms << 11, 6, // Room 3 >Room 2 >Room 1 >Start
7,11,
3,8,
x0,y0;
..
}
To change the starting position, in the final.launch file, inside the launch/ folder, change the value of the args x0, y0, yaw0
<arg name="x0" value="5.5" />
<arg name="y0" value="1.5" />
<arg name="yaw0" value="1.570796327" />
To change the desired id, modify the value of id_wanted parameter in the final.launch file inside the launch/ folder
<param name="id_wanted" value="id1" />
Inside the repository is added a package taken from GitHub useful to build QR code. The package is
"cpp-qr-to-png by RaymiiOrg", Link
To build this package :
cd progetto_esame/cpp-qr-to-png-master
mkdir build
cd build
cmake ..
make all
The file in which is possible to assign new data to create qr code is the main.cpp inside the cpp-qr-to-png-master/src/ folder, modify the value of
std::string qrText = "id1";
std::string fileName = "QR_1.png";
once modified the desried value, in cpp-qr-to-png-master/build/src/ folder use
sudo ./qr-to-png
Then add the QRcode on the simulation by copying and modifying the files inside marker_1/ folder, in the model/ folder
Please note: as a design hypothesis, the data of the qr code must start with "id" to be recognized by the robot