What is this?

This is a project for cognitive robotics course. It is implemented using ROS and simulation of summit-xl robot navigating in the willow garage environment. The project implemets grid mapping and SLAM (Simultaneous Localization and Mapping) for the robot.

the scripts are for ubuntu, and it is adviced to use ubuntu20.04
You can use this but it is slow.

Implemented:

• Robot controls with keys W, A, S, and D. (CR_req)
• Sensors incorporation. (CR_req_b)
• Mapping with known poses using Occupancy Grid mapping. (CR_req_c)
• FastSLAM using particle filter. (CR_req_c)

Demo

T11_SLAM_BETTER_EXAMPLE2.mp4

Getting Started:

1- Download ROS Full version: link

2- Clone this Repo

3- Delete build folders

4- in each directory cr_req..: run catkin_make

in multiple terminals, do the following:

Launch Gazebo & rViz

cd cr_project
roslaunch summit_xl_sim_bringup summit_xls_complete.launch

launch keyboard control

rosrun teleop_twist_keyboard teleop_twist_keyboard.py /cmd_vel:=/robot/robotnik_base_control/cmd_vel

or cd cr_req
source ./devel/setup.bash
chmod +x src/req_pkg/script/control_wasd.py -> only once
rosrun req_pkg control_wasd.py

launch sensors reader node

cd cr_req_b
chmod +x src/req_b_pkg/script/sensor_reading.py -> only once
source ./devel/setup.bash
roslaunch req_b_pkg multi.launch

To run grid mapping:

cd cr_req_c
source ./devel/setup.bash
chmod +x src/req_c_pkg/script/grid_mapping.py -> only once
rosrun req_c_pkg grid_mapping.py

To run SLAM: (v2)

cd cr_req_c
source ./devel/setup.bash

localization

chmod +x src/req_c_pkg/script/localizer.py -> only once
rosrun req_c_pkg localizer.py

mapping

chmod +x src/req_c_pkg/script/slam2.py -> only once
rosrun req_c_pkg slam2.py