amcl_obstacle_avoidance_ros

Overview

In this project I utilized ROS AMCL package to accurately localize a mobile robot inside a map in the Gazebo simulation environments and avoided obstacles using DWA local planner. The main aim of the project are as follows:

• Create a ROS package that launches a custom robot model in a custom Gazebo world
• Utilize the ROS AMCL package and the Tele-Operation / Navigation Stack to localize the robot
• Explore, add, and tune specific parameters corresponding to each package to achieve the best possible localization results
• Use DWA local planner to avoid obstacles in the environment

Prerequisites/Dependencies

• Gazebo >= 7.0
• ROS Kinetic
• ROS navigation package

sudo apt-get install ros-kinetic-navigation

• ROS map_server package

sudo apt-get install ros-kinetic-map-server

• ROS move_base package

sudo apt-get install ros-kinetic-move-base

• ROS amcl package

sudo apt-get install ros-kinetic-amcl

• make >= 4.1(mac, linux), 3.81(Windows)
  • Linux: make is installed by default on most Linux distros
  • Mac: install Xcode command line tools to get make
  • Windows: Click here for installation instructions
• gcc/g++ >= 5.4
  • Linux: gcc / g++ is installed by default on most Linux distros
  • Mac: same deal as make - install Xcode command line tools
  • Windows: recommend using MinGW

Setup Instructions (abbreviated)

1. Meet the Prerequisites/Dependencies
2. Open Ubuntu Bash and clone the project repository
3. On the command line execute

sudo apt-get update && sudo apt-get upgrade -y

4. Build and run your code.

Run the project

• Clone this repository in the catkin_ws/src folder

git clone https://github.com/aaryapatel007/amcl_obstacle_avoidance_ros.git

• Open the repository and make

cd /home/workspace/catkin_ws/
catkin_make

• Launch my_robot in Gazebo to load both the world and plugins

roslaunch my_robot world.launch

• Launch amcl node

roslaunch my_robot amcl.launch

• Testing
  You have two options to control your robot while it localize itself here:
  • Send navigation goal via RViz
  • Send move command via teleop package.
    Navigate your robot, observe its performance and tune your parameters for AMCL.

Option 1: Send 2D Navigation Goal
Your first option would be sending a 2D Nav Goal from RViz. The move_base will try to navigate your robot based on the localization. Based on the new observation and the odometry, the robot to further perform the localization.
Click the 2D Nav Goal button in the toolbar, then click and drag on the map to send the goal to the robot. It will start moving and localize itself in the process. If you would like to give amcl node a nudge, you could give the robot an initial position estimate on the map using 2D Pose Estimate.
Option 2: Use teleop Node
You could also use teleop node to control your robot and observe it localize itself in the environment.
Open another terminal and launch the teleop script:

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

You could control your robot by keyboard commands now.

License

This repository is licensed under the terms of the MIT license.