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RAV mobile robot

Implementing NAV2 and SLAM on mobile robot with gazebo environment.

About

This repository contains a Gazebo simulation for a differential drive robot, equipped with an IMU, a depth camera, camera and a 2D LiDAR. The primary contriution of this project is to support ROS2 and nav2. Currently, the project supports the following versions -

  1. ROS2 Humble + Gazebo Classic 11 (branch ros2)

Each of the following sections describes depedencies, build and run instructions for each of the above combinations

Humble + Classic (Ubuntu 22.04)

Dependencies

In addition to ROS2 Humble and Gazebo Classic installations, we need to manually install gazebo_ros_pkgs (since the same branch supports Classic and Fortress)

sudo apt-get install ros-humble-gazebo-ros-pkgs

Remainder of the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

colcon build --packages-select rav_bot

Run

To launch the robot in Gazebo,

ros2 launch rav_bot rav_gazebo.launch.py

To view in rviz,

ros2 launch rav_bot rviz.launch.py

Run

To launch the robot in Gazebo,

ros2 launch bcr_bot ign.launch.py

To view in rviz,

ros2 launch bcr_bot rviz.launch.py

Mapping with SLAM Toolbox

SLAM Toolbox is an open-source package designed to map the environment using laser scans and odometry, generating a map for autonomous navigation.

NOTE: The command to run mapping is common between all versions of gazebo.

To start mapping:

ros2 launch rav_bot mapping.launch.py

Use the teleop twist keyboard to control the robot and map the area:

ros2 run teleop_twist_keyboard teleop_twist_keyboard cmd_vel:=/bcr_bot/cmd_vel

To save the map:

cd src/bcr_bot/config
ros2 run nav2_map_server map_saver_cli -f bcr_map

Using Nav2 with bcr_bot

Nav2 is an open-source navigation package that enables a robot to navigate through an environment easily. It takes laser scan and odometry data, along with the map of the environment, as inputs.

NOTE: The command to run navigation is common between all versions of gazebo.

To run Nav2 on bcr_bot:

ros2 launch bcr_bot nav2.launch.py

Simulation and Visualization

  1. Gazebo Sim (classic Gazebo) (obstacle World):

  2. Gazebo Sim (classic Gazebo) (warehouse World):

  3. Rviz :

further plans

  • plan to use this simulation with rav2 and use to get some more tutorial on it with plannars, behaviors and learn more.
  • use Hardware to integrate with same urdf design (hardware project will be in another repo).