glc12125 / udacity_bot

WhereAmI

This is the code for my Udacity Robotics Software Engineer Nanodegree - Where Am I. It creates a simulation world with Gazebo and uses AMCL package to localize the robot.

Directory Structure

    udacity_bot                        # main folder, which contains world files, launch files and relevant resources
    ├── images                         # Gazebo world with plugin output image
    │   ├── whereami_amcl.png          # Example rviz screen with 2D map loaded
    │   ├── gazebo.png                 # Example gazebo world
    │   ├── whereami.gif              # localization with AMCL
    ├── launch
    │   ├── robot_description.launch
    │   ├── world.launch               # The entry point launch file for myworld
    │   ├── amcl.launch                # The entry point launch file for AMCL localization, which includes Map Server, AMCL node, and Move Base Node
    ├── meshes                         # Gazebo provided meshes
    │   ├── hokuyo.dae                 # hokuyo lidar mesh file
    ├── urdf                           # robot description files
    │   ├── my_robot.gazebo            # plugin definitions
    │   ├── my_robot.xacro             # main URDF file
    ├── world                          # Gazebo main World containing models
    │   ├── myworld.world              # The main world file
    ├── config                         # It contains config files have a preset of parameters defined for you to navigate the robot if you choose to send navigation goal to the robot in testing
    │   ├── base_local_planner_params.yaml
    │   ├── costmap_common_params.yaml
    │   ├── global_costmap_params.yaml
    │   ├── local_costmap_params.yaml
    ├── udacity_bot.rviz               # the rviz configuration file
    └── README.md

Steps to launch the simulation

Clone the project folder in /home/workspace/

$ cd /home/workspace/
$ git clone https://github.com/glc12125/udacity_bot.git

Compile the code

create a package in your catkin workspace to host udacity_bot with the same name 
$ cd ${your_catkin_ws}/src
$ catkin_create_pkg udacity_bot
$ cp -r /home/workspace/udacity_bot/* ${your_catkin_ws}/src/udacity_bot/
$ cd ${your_catkin_ws}
$ catkin_make
$ source devel/setup.bash

Launch Gazebo world and services

$ cd ${your_catkin_ws}
$ roslaunch udacity_bot world.launch

In another commandline window

$ cd ${your_catkin_ws}
$ roslaunch udacity_bot amcl.launch

Output

You should expect two new windows: the gazebo world and rviz window. For the udacity_bot launch, the RobotModel, Map, and PoseArray should have been added by default in rviz for visualization. You should see something similar to the following:

Gazebo world:

Rviz

For the amcl launch, you should be able to test the localization via "2D Nav Goal" button from RViz or the teleop Node in another terminal. You should expect something like the following demo: