Autonomous-Guided-Vehicle-Using-ROS1

Additional required Packages:

To find imu_tools, visit: imu_tools
To find rosserial and install it, visit: rosserial
To find robot_pose_ekf, visit: robot_pose_ekf
To find rplidar_ros, visit: rplidar

Firmware:

See ➡️ cytron_motor_driver

Installation Process 🧰

• create a workspace and Compile
  

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make

Follow the procedure of rosserial installtion from here ➡️ rosserial

• go to src folder and clone:
  

git clone https://github.com/unipolarautomation/mobile_robot.
git clone https://github.com/CCNYRoboticsLab/imu_tools.git
git clone https://github.com/ros-planning/robot_pose_ekf
git clone https://github.com/Slamtec/rplidar_ros

• go to catkin_ws folder and do:
  

catkin_make

• run
  

source devel/setup.bash

Running the robot 🚀

• Go to workspace catkin_ws
• Run

source devel/setup.bash

• Run the launch file

roslaunch robot_bringup real_bringup.launch

• Run teleop_twist_keyboard in new terminal for running the robot using keyboard

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

🟣 To install teleop_twist_keyboard, Run:

sudo apt-get install ros-<ros distro>-teleop-twist-keyboard

• To run rviz:

rosrun rviz rviz