RoboND Robot Localization Project (Where I Am)

using AMCL ROS Package

(c) Mustafa Eldeeb

march 2020

Creating a new ROS package from scratch

If you would like to create the simulated robot package from scratch please see steps on th following file: udacity_bot package creation steps

installation :

• Install the following packages if it is not yet installed:

$ sudo apt-get install ros-kinetic-navigation
$ sudo apt-get install ros-kinetic-map-server
$ sudo apt-get install ros-kinetic-move-base
$ rospack profile
$ sudo apt-get install ros-kinetic-amcl

• Compile code using catkin_make and source it.

$ cd catkin_ws
$ catkin_make
$ source ~/catkin_ws/devel/setup.bash

Launching udacity_bot Packages

• if you want to launch empty world with only the robot use the following:

$ roslaunch udacity_bot udacity_empty_world.launch

• to launch the simulated robot along with amcl package in jackal race world, run the following commands each in a separate terminal window.

To launch jackal race world

$ roslaunch udacity_bot udacity_world.launch

To start amcl node

$ roslaunch udacity_bot amcl.launch

To send 2d navigation goal

$ rosrun udacity_bot navigation_goal

udacity_bot creation steps

Robot chassis with casters:

Robot chassis with wheels:

Robot chassis + wheels + camera sensor:

Robot chassis + wheels + camera sensor + laser finder sensor:

Full robot model with material colors in RViz:

Robot after reaching goal in jackal race world.

Launching deeb_bot Packages

• if you want to launch empty world with only the robot use the following:

$ roslaunch deeb_bot deeb_empty_world.launch

• to launch the simulated robot along with amcl package in jackal race world, run the following commands each in a separate terminal window.

To launch jackal race world

$ roslaunch deeb_bot deeb_world.launch

To start amcl node

$ roslaunch deeb_bot amcl.launch

To send 2d navigation goal

$ rosrun deeb_bot navigation_goal_d

deeb_bot

To create this bot package from scatch you can follow same steps as explained above with some differences in gazebo plugins and config files.

Robot in gazebo:

Remove caster wheels then add another two wheels.so it become with 4 wheels. modify the lidar position.Resize the main chasis.

For steering control I have used this gazebo plugin :

<gazebo>
    <plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so">
      <alwaysOn>true</alwaysOn>
      <updateRate>100.0</updateRate>
      <leftFrontJoint>front_left_wheel_joint</leftFrontJoint>
      <rightFrontJoint>front_right_wheel_joint</rightFrontJoint>
      <leftRearJoint>back_left_wheel_joint</leftRearJoint>
      <rightRearJoint>back_right_wheel_joint</rightRearJoint>
      <wheelSeparation>0.4</wheelSeparation>
      <wheelDiameter>0.120</wheelDiameter>
      <wheelAcceleration>0</wheelAcceleration>
      <wheelTorque>5</wheelTorque>
      <torque>10</torque>
      <commandTopic>cmd_vel</commandTopic>
      <odometryTopic>odom</odometryTopic>
      <odometryFrame>odom</odometryFrame>
      <rosDebugLevel>na</rosDebugLevel>
      <odometrySource>world</odometrySource>
      <robotBaseFrame>robot_footprint</robotBaseFrame>
      <legacyMode>false</legacyMode>
      <publishWheelTF>false</publishWheelTF>
      <publishWheelJointState>false</publishWheelJointState>
      <publishTf>1</publishTf>
      <covariance_x>0.0001</covariance_x>
      <covariance_y>0.0001</covariance_y>
      <covariance_yaw>0.01</covariance_yaw>
      <topicName>cmd_vel</topicName>
      <broadcastTF>true</broadcastTF>
    </plugin>
  </gazebo>

In amcl.yaml file :

odom_model_type:  diff -corrected 

Full robot model with material colors in RViz:

Robot on its way to goal in jackal race world.

Robot after reaching goal in jackal race world.