kurshakuz / graduation-project

autonomous-skid-steering-robot

Autonomous Skid-Steering Based Mobile Robot-Manipulation System for Automating Warehouse Operations

Software Requirements for Social Navigation Part

• ROS installation
• Ubuntu
• Eigen3 (Please install Eigen3 from the following link:https://eigen.tuxfamily.org/index.php?title=Main_Page)
• rqt_multiplot

Installation instructions

This set of instructions was tested for Ubuntu18 with ROS-Melodic. Additionally, we assume that you already have a complete ROS installation.

• Please follow the following instructions:

sudo apt-get install ros-melodic-jackal-control ros-melodic-jackal-gazebo ros-melodic-jackal-simulator ros-melodic-jackal-description ros-melodic-jackal-desktop ros-melodic-jackal-navigation ros-melodic-jackal-viz ros-melodic-people-msgs
cd {CATKIN_WORKSPACE}/src
git clone https://github.com/kurshakuz/graduation-project.git
cd ../
rosdep install --from-paths src --ignore-src -r -y
cd {CATKIN_WORKSPACE}
catkin_make
source devel/setup.bash

Full simulation launch procedure

1. Start LMPCC Obstacle Feed

roslaunch lmpcc_obstacle_feed lmpcc_obstacle_feed.launch

2. Start Pedsim simulator with pedestrian trajectories

roslaunch pedsim_swarm_simulation pedsim_office_populated.launch

3. Start Gazebo simulation with Office world

roslaunch cpr_office_gazebo office_world_with_plugin.launch

4. Start localization node and load map

roslaunch jackal_navigation amcl_demo.launch map_file:={CATKIN_WORKSPACE}/src/graduation-project/robot_swarm/pedsim_swarm_simulation/maps/mymap.yaml

5. Start RViz node

roslaunch jackal_viz view_robot.launch config:=localization

6. Start LMPCC Controller

roslaunch lmpcc lmpcc.launch

7. Start static collision avoidance node

roslaunch static_collision_avoidance static_collision_avoidance.launch

8. Start rqt_reconfigure

rosrun rqt_reconfigure rqt_reconfigure

    1. Click on the lmpcc parameters to start the robot motion by press the enable_output button
    2. Click on the lmpcc parameters to start planning by pressing the plan button

Running MPC

• Simulation Environment

    1. roslaunch jackal_gazebo empty_world.launch
    2. roslaunch mocap_rover mocap_bridge_gazebo.launch
  

• Start NMPC and trajectory

    1. roslaunch nmpc_pc_rover nmpc_pc_gazebo.launch
    2. roslaunch trajectory_rover trajectory_rover.launch
  

• Start rqt_multiplot

    1. rqt_multiplot (use included files)
  

Running LMPCC

• Simulation Environment

    1. Start Jackal Gazebo Simulation
        * roslaunch jackal_gazebo jackal_world.launch
    2. Start Pedestrian Simulator
        * roslaunch pedsim_simulator corridor.launch
  

• Start lmpcc_obstacle_feed

    1. roslaunch lmpcc_obstacle_feed lmpcc_obstacle_feed.launch
  

• Start lmpcc controller

    1. roslaunch lmpcc lmpcc.launch
  

• Start rqt_reconfigure

    1. rosrun rqt_reconfigure rqt_reconfigure
    2. Click on the lmpcc parameters to start the robot motion by press the enable_output button
    3. Click on the lmpcc parameters to start planning by pressing the plan button
  

Run Gazebo and Pedsim based LMPCC navigation

• Launch Gazebo simulation world

    1. roslaunch cpr_office_gazebo office_world_with_plugin.launch
  

• Start LMPCC Obstacle Feed and Controller

    1. roslaunch lmpcc_obstacle_feed lmpcc_obstacle_feed.launch
    2. roslaunch lmpcc lmpcc.launch
  

• Spawn pedsim people and start vizualization in rviz

    1. roslaunch pedsim_swarm_simulation pedsim_office_populated.launch
  

• Start rqt_reconfigure

    1. rosrun rqt_reconfigure rqt_reconfigure
    2. Click on the lmpcc parameters to start the robot motion by press the enable_output button
    3. Click on the lmpcc parameters to start planning by pressing the plan button