Most of the wheeled robots in ROS use move_base to move the robot. move_base geometry model is based on differential drive which basically transforms a velocity command (twist message) into a command for rotating the left and the right wheels at a different speed which enable the car to turn into the right or left or goes straight. But cars […]
Ackermann steering car robot model with simulation in Gazebo Read More »
Two wheels differential drive robot (with two caster wheels). List of installed sensors: • Velodyne VLP-16. • Velodyne HDL-32E. • Hokuyo Laser scanner. • IMU. • Microsoft Kinect/Asus Xtion Pro. • RGB Camera. You can manually control the robot with Joystick controller for mapping robot environment. Autonomous navigation is possible by setting goal pose.
Autonomous navigation of two wheels differential drive robot in Gazebo Read More »
For this work, first I loaded the RRBot in Gazebo and launched Its joints controller, then I sent a periodic signal to the robot such that the laser scanner mounted on the robot swings. In the following, I assembled the incoming laser scans with the transformation from tf and created PCL point cloud. Install the necessary
Assembling Laser scans into PCL point cloud Using Gazebo and ROS Read More »
In this tutorial, we do some SLAM with TurtleBot robot. 1.Before anything, you have to install all packages for gazebo and gmapping and TurtleBot:
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sudo apt-get install ros-kinetic-gmapping ros-kinetic-turtlebot-gazebo ros-kinetic-turtlebot-simulator ros-kinetic-turtlebot-teleop ros-kinetic-turtlebot-rviz-launchers |
2.Launch gazebo and TurtleBot
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roslaunch turtlebot_gazebo turtlebot_world.launch |
3. Call the gmapper to read laser scan and build the map:
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roslaunch turtlebot_gazebo gmapping_demo.launch |
Only for indigo: if you got and error, you need to do some hacky stuff
SLAM using gmapping with TurtleBot robot and Gazbo Read More »
Here is an example of obtaining occupancy grid from sensory data of turtlebot robot. 1.First you need to install all dependencies for gazebo and turtlebot and octomap server:
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sudo apt-get install ros-kinetic-gmapping ros-kinetic-turtlebot-gazebo ros-kinetic-turtlebot-simulator ros-kinetic-turtlebot-teleop |
2. Launch gazebo in a simulated environment:
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roslaunch turtlebot_gazebo turtlebot_world.launch |
3.Launch RVIZ to view the published data
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roslaunch turtlebot_rviz_launchers view_robot.launch |
3.Move your robot via keyboard:
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roslaunch turtlebot_teleop keyboard_teleop.launch |
to learn how to move the robot with
Making occupancy grid map in ROS from gazebo with Octomap Read More »
