Research_Track_1-final-assignmnet (Ginne vikas Reddy) (matricola 5061211)

Overview of the project

This project was developed to simulate the robot by using navigation stack in a 3D environment, In this project the robot is supposed to simulate 4 tasks entered by the user.

General information regarding the project

In this project the robot is localized by user input, these are the following steps that robot can perform these tasks

1.Move randomly in the environment, by choosing 1 out of 6 possible target positions (-4,-3) (-4,2) (-4,7) (5,-7) (5,-3) (5,1).

2.Ask the user to enter next target position from the random six.

3.To start followng the external walls given in the map.

4.To enter standby position.

How robot is controlled in these conditions

Random target

When input is 1 from the user, A random goal is generated from random_goal_generator which will publish to move_base/goal topic and robot wil start moving to that location

Selected target

if the user enters 2 as the input, the user_interface will ask to pick a target from a list of possible destinations. Wall follower:

Wall follower

if the user enters 3 as the input, the robot will follow the walls by calling wall_follower_switch service through a servie client which allows robot to follow external walls.

Standby

in case of pressing 4,the velocities are set to 0 ,then the robot will stop for certain amount of time .

List of nodes used

list of topics used

software Architecture

How to run the code

git clone the package

https://github.com/vikasreddy636/Research_Track_1-final-assignmnet.git

create a workspace in root repositories

mkdir "name of the workspace"

move the git package to the src folder of that workspace

Build the package

catkin_make

Refresh the workspace using

rospack profile

in the folder "Research_Track_1-final-assignmnet/final_assignment/scripts/" check for read and write permissions

ls -la

to give permissions to individual file

chmod +x <file name.py>

In the terminal excute the following commands

TO launch Gazebo and Rviz using launch commands

roslaunch final_assignment simulation_gmapping.launch

roslaunch final_assignment move_base.launch

for wall follow service

rosrun final_assignment wall_follow_service_m.py

To start the server

rosrun my_srv Final_project_server

To excute the final program

rosrun final_assignment Final_code.py

For Computational graph

rqt_graph

Errors that might occur in noetic

missing of move_base file

To fix that error

cd /opt/ros/noetic/lib

sudo apt-get install ros-noetic-move-base-msgs