Faby_sim

Project: https://github.com/Faby-Telepresence-Robot

Overview

Simulation of a telepresence robot - Faby in a fabrication lab environment.

• It contains a c++ script nav_goals.cpp that takes a number(which represents a goal location) as input from the user and sends Faby robot to that location.
• Some goal locations like the tables have multiple goal coordinates at different sides of the tables, so Faby will go the the goal coordinate which is closest to it.
• There is also a python script nav_goal.py which does the same using a simple GUI.

Software Requirements

1. Ubuntu 18.04
2. ROS Melodic

Build and Complie

To create a new workspace faby_ws, open a terminal and run the following commands:

mkdir -p ~/faby_ws/src
cd ~/faby_ws/src/
git clone https://github.com/maarufvazifdar/faby_sim.git
cd ..
catkin_make
source devel/setup.bash

Running the code

• After build and compile.

1. To launch gazebo simulation with Faby in the Fablab(a fabrication lab).

   cd ~/faby_ws
   source devel/setup.bash
   roslaunch faby_sim gazebo.launch

   • Output:

2. To launch the navigation stack and Rviz, open a new terminal and run the following commands:

   cd ~/faby_ws
   source devel/setup.bash
   roslaunch faby_navigation navigation.launch 

   • Output:

3. To run nav_goals.cpp, open a new terminal and run the following commands:

   cd ~/faby_ws
   source devel/setup.bash
   rosrun faby_navigation nav_goals 

   Then enter a number (from 0-9), 0 represents Home/Origin, 1 represents Tabel 1, and so on...

   • Output: If you enter 5, Faby starts going towards Table 5.

4. To run nav_goal.py, open a new terminal and run the following commands:

   cd ~/faby_ws
   source devel/setup.bash
   rosrun faby_navigation nav_goal.py 

   • Output:
     1. You will see a simple GUI.
     2. If you click 5, Faby starts going towards Table 5.

Demonstration Video