hobbysingh / ieee-ras-sight-humanitarian-robotics-automation-technology-challenge

ROS Nodes for Locomotion, Obstacle Avoidance and Mine Detection

IEEE-RAS-SIGHT-Humanitarian-Robotics-Automation-Technology-Challenge

ROS Nodes for Locomotion, Obstacle Avoidance and Mine Detection

• Unzip the "hratc2017_workspace" code folder to ~/hratc2017_workspace/src/
• The instructions below assume you have installed the HRATC 2017 code/simulator at ~/hratc2017_workspace/src
• Procedure to compile and run
  • Open move_base.launch via any text editor and please change path variable in lines (7,8,9,10,11) as per your directory
  • Open terminal and run the following commands
    • cd ~/hratc2017_workspace
    • catkin_make
  • roslaunch controller mine_detection.launch
• Components Used
  • The laser scanner, metal detectors, gps, imu is used.
• Modules Implemented
  • A custom holonomic proportional control for p3at
  • Waypoint Generation in Lawn Mover Pattern
  • Land-Mine Detection and Avoidance
• Things to be done and tweaked in future
  • A star for Obstacle Avoidance where GPS Coordinates are given
  • Tangent Bug for new obstacles