Reference for image: link
The project runs a turtlebot in gazebo simulator.It works on two following nodes:
- turtlebot_gazebo : We use the turtlebot_world.launch file from this package to create environment in gazebo.
- walker : This node then publishes instructions to the turtlebot so that it can avoid obstacles in the gazebo environment.
These ROS nodes are made to be used on systems which have:
- ROS Kinetic
- Ubuntu 16.04
- Turtlebot packages
To install ROS, follow the instructions on this link
To install turtlebot packages run following command.
sudo apt-get install ros-kinetic-turtlebot-gazebo ros-kinetic-turtlebot-apps ros-kinetic-turtlebot-rviz-launchers
source /opt/ros/kinetic/setup.bash
sudo rm -R catkin_ws (skip if there is not catkin_ws)
mkdir -p catkin_ws/src
cd catkin_ws/
catkin_make
source devel/setup.bash
cd src/
git clone https://github.com/hrishikeshtawade04/obstacle_avoidance_robot.git
cd ..
catkin_make
To run the obstacle avoidance robot run the following launch file. This launch file will open the gazebo environment for turtlebot and will also open the walker node which will then start publishing instructions to the turtlebot to avoid obstacles. You can also play with the turtlebot by placing obstacles in real-time and see it avoiding those obstacles. Here the enableBag argument lets you record all the topics running during this instance execpt all /camera topics. Currently we have set it to false.
sudo killall -9 roscore (to stop any ongoing roscore)
sudo killall -9 rosmaster (to stop any ongoing roscore)
cd <path to catkin_ws>
source devel/setup.bash
roslaunch obstacle_avoidance_robot run_robot.launch enableBag:=false
You can also run the nodes separately by following commands. First we will run roscore in a separate terminal.
sudo killall -9 roscore (to stop any ongoing roscore)
sudo killall -9 rosmaster (to stop any ongoing roscore)
source /opt/ros/kinetic/setup.bash
roscore
Then open a new terminal and run the following command to open a new turtlebot environment in gazebo.
source /opt/ros/kinetic/setup.bash
roslaunch turtlebot_gazebo turtlebot_world.launch
Then open a new terminal and launch following command to run the walker node.
cd <path to catkin_ws>
source devel/setup.bash
rosrun obstacle_avoidance_robot walker
The commands to record turtlebot simulation data in bag file has already been added in the run_robot launch file which can be enabled to record by setting enableBag argument to true as below. The below set of commands record the data of all topics except /camera/* for 30 seconds in the results folder in storedTurtlebotData.bag file. To stop the recording press Ctrl-C in the new pop-up terminal and the main terminal where the command was executed.
sudo killall -9 roscore (to stop any ongoing roscore)
sudo killall -9 rosmaster (to stop any ongoing roscore)
cd <path to catkin_ws>
source devel/setup.bash
roslaunch obstacle_avoidance_robot run_robot.launch enableBag:=true
To verify the .bag file run the following command.
cd <path to repository>/results
rosbag info storedTurtlebotData.bag
It should give similar output as following.
path: storedTurtlebotData.bag
version: 2.0
duration: 29.9s
start: Dec 31 1969 19:00:00.28 (0.28)
end: Dec 31 1969 19:00:30.20 (30.20)
size: 11.7 MB
messages: 23033
compression: none [16/16 chunks]
types: bond/Status [eacc84bf5d65b6777d4c50f463dfb9c8]
dynamic_reconfigure/Config [958f16a05573709014982821e6822580]
dynamic_reconfigure/ConfigDescription [757ce9d44ba8ddd801bb30bc456f946f]
gazebo_msgs/LinkStates [48c080191eb15c41858319b4d8a609c2]
gazebo_msgs/ModelStates [48c080191eb15c41858319b4d8a609c2]
geometry_msgs/Twist [9f195f881246fdfa2798d1d3eebca84a]
nav_msgs/Odometry [cd5e73d190d741a2f92e81eda573aca7]
rosgraph_msgs/Clock [a9c97c1d230cfc112e270351a944ee47]
rosgraph_msgs/Log [acffd30cd6b6de30f120938c17c593fb]
sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2]
sensor_msgs/JointState [3066dcd76a6cfaef579bd0f34173e9fd]
sensor_msgs/LaserScan [90c7ef2dc6895d81024acba2ac42f369]
std_msgs/String [992ce8a1687cec8c8bd883ec73ca41d1]
tf2_msgs/TFMessage [94810edda583a504dfda3829e70d7eec]
topics: /clock 2992 msgs : rosgraph_msgs/Clock
/cmd_vel_mux/active 1 msg : std_msgs/String
/cmd_vel_mux/input/navi 302 msgs : geometry_msgs/Twist
/cmd_vel_mux/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/cmd_vel_mux/parameter_updates 1 msg : dynamic_reconfigure/Config
/depthimage_to_laserscan/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/depthimage_to_laserscan/parameter_updates 1 msg : dynamic_reconfigure/Config
/gazebo/link_states 2989 msgs : gazebo_msgs/LinkStates
/gazebo/model_states 2991 msgs : gazebo_msgs/ModelStates
/gazebo/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/gazebo/parameter_updates 1 msg : dynamic_reconfigure/Config
/gazebo_gui/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/gazebo_gui/parameter_updates 1 msg : dynamic_reconfigure/Config
/joint_states 2863 msgs : sensor_msgs/JointState
/laserscan_nodelet_manager/bond 58 msgs : bond/Status (2 connections)
/mobile_base/commands/velocity 287 msgs : geometry_msgs/Twist
/mobile_base/sensors/imu_data 2873 msgs : sensor_msgs/Imu
/mobile_base_nodelet_manager/bond 115 msgs : bond/Status (3 connections)
/odom 2872 msgs : nav_msgs/Odometry
/rosout 354 msgs : rosgraph_msgs/Log (10 connections)
/rosout_agg 336 msgs : rosgraph_msgs/Log
/scan 279 msgs : sensor_msgs/LaserScan
/tf 3712 msgs : tf2_msgs/TFMessage (2 connections)
/tf_static 1 msg : tf2_msgs/TFMessage
Now to playback the .bag file and check it, first run the below command in one terminal.
sudo killall -9 roscore (to stop any ongoing roscore)
sudo killall -9 rosmaster (to stop any ongoing roscore)
source /opt/ros/kinetic/setup.bash
roscore
Now run the following command in new terminal play the storedTurtlebotData.bag file and the results should refect in the listener node.
cd <path to repository>/results
rosbag play storedTurtlebotData.bag
You can verify by running the below command in new terminal
source /opt/ros/kinetic/setup.bash
rostopic echo /cmd_vel_mux/input/navi
Following is the detailed RQT graph upon successful execution of the nodes.
