ROS 2 teleop and obstacle avoidance using Robot Car

Table of Contents

1. About The Project
   • Demo
2. Getting Started
   • Prerequisites
   • Installation
3. Usage
4. Contact
5. License

About The Project

A four-wheeled robot was designed with SolidWorks and a ROS 2 package was created in Python for Teleoperation and Navigation with obstacle avoidance.

Summary of tasks achieved:

• Created robot model in SolidWorks and converted into urdf.
• Attached lidar on the robot and deployed differential drive using gazebo plug-in.
• Programmed an Estimator class which converts quartenion from odometry topic to euler angles.
• And a Controller class uses these values from estimator for Obstacle Avoidance.

CLICK HERE - To view ROS 1 implementation of the project with modifications.

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Demo

Robot navigation using simple obstacle avoidance (X8 Speed)

navigation_8x.mp4

Teleop result (X4 Speed)

teleop_4X.mp4

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Getting Started

These are the instructions to get started on the project. To get a local copy up and running follow these simple steps.

Prerequisites

• Python 3.6 +
• ROS 2 Turtlebot3 teleop should be installed.
• ROS 2 : foxy (tested)
• OS - Linux (tested)

Installation

1. Copy the package kick_ass inside the src folder of catkin workspace catkin_ws.

2. Make the following changes inside the kick_ass.urdf file located at catkin_ws/src/kick_ass/urdf.

   • Replace all ''/home/jeffin/check_r2/src'' inside the filename attribute of mesh tag to the absolute path of the current package.
   • So if catkin_ws is in home directory, it should be ''/home/username/catkin_ws/src''

3. Navigate to src and build

   colcon build

4. Source the workspace

   source ~/catkin_ws/devel/setup.bash

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Usage

To run teleop

1. Run the command :

   ros2 launch kick_ass launch_urdf_into_gazebo.launch.py 

2. Open new terminal ,source workspace and run:

   ros2 run turtlebot3_teleop teleop_keyboard 

NOTE : If turtlebot3 teleop not available, try:

ros2 run teleop_twist_keyboard teleop_twist_keyboard

To run Robot Navigation node with Obstacle Avoidance

1. Source the workspace.
2. Start simulation:

   ros2 launch kick_ass launch_urdf_into_gazebo.launch.py

3. Open new terminal ,source workspace and run:

   ros2 launch kick_ass robot_move.launch.py

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Contact

Jeffin Johny K -

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License

Distributed under the MIT License. See MIT for more information.

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