LaMB

Localization and Mapping Bot a.k.a LaMB

LaMB is a differential drive robot which uses SLAM with RPLidar to navigate in its environment. It uses Jetson Nano as a companion computer for path planning and obstacle avoidance

Getting Started

1. Give a star to this repo (at the top)

2. Install Pre-requisite

sudo apt-get install ros-melodic-gmapping ros-melodic-teleop-twist-keyboard ros-melodic-map-server ros-melodic-amcl ros-melodic-move-base

3. Clone the repository

• cd catkin_ws/src
• git clone https://github.com/G1-k/LaMB.git
• git clone https://github.com/NickL77/RPLidar_Hector_SLAM.git

3. Build the workspace

cd ..
catkin build

Generate Map using GMapping

Launch Respective Nodes

1. Launch Hardware related Nodes:

roslaunch lamb hardware.launch

OR Launch these individually(Optional):

* Arduino Bridge Node

roslaunch ros_arduino_python arduino.launch


* RPLidar Node

roslaunch rplidar_ros rplidar.launch

2. Gmapping node

roslaunch lamb gmapping.launch

3. Visualization

cd catkin_ws/src/LaMB/rviz 
rviz -d map.rviz

4. Teleop Node

 rosrun teleop_twist_keyboard teleop_twist_keyboard.py 

Using Arrow keys drive the robot around to generate map.

5. After completing map, Save it

 rosrun map_server map_saver -f ~ ~/catkin_ws/src/lamb/maps/name_of_map

Navigation

1. Launch Navigation:

roslaunch lamb navigation.launch savedmap:='name-of-map'

OR Launch these individually (Optional)

* AMCL Node

roslaunch lamb amcl.launch map:='name-of-map


* Move base Node

roslaunch lamb move_base.launch

2. Visualization

 cd catkin_ws/src/LaMB/rviz
 rviz -d navigate.rviz

3. Go to goal

• Set initial pose using 2D pose estimate in Rviz.
• Optional : Use teleop until pose estimates(red_particles) are accurate.
• Set goal postion and orientation using 2D Nav goal

Don't forget to give a star (at top of the repo)

This work/project is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International Public License.

Contributing

1. Fork it!
2. Create your feature branch : git checkout -b my-new-feature
3. Commit your changes: git commit -am 'Add some feature'
4. Push to the branch: git push origin my-new-feature
5. Submit a pull request