TurtleBot_Roomba

A simple turtleBot3 walker algorithm much like a Roomba robot vacuum cleaner. The robot moves forward until it reaches an obstacle (but does not collide), then rotates in place until the way ahead is clear, then move forward again and repeat.

Overview

TurtleBot_Roomba is a turtleBot3-based robot that moves like a Roomba robot. It can move in any environment while avoiding static and dynamic obstacles. The robot continuously scans it environment for obstacles and if it encounters an obstacle it rotates at it place in a direction that would make its orientation away from the obstacle until there is no obstacle.

The turtlebot_roomba_node subscribes to the \scan topic which provides it with the laser scan data (distances of obstacles from the robot) and based on the distances it publishes velocity commands on \cmd_vel

Dependencies

Ubuntu 18.04 (LTS)
ROS Melodic
ROS TurtleBot3 Package
Gazebo

Build Instructions

Create a workspace

mkdir -p ~/roomba_ws/src
cd ~/roomba_ws/src

Clone the repository inside the src directory of the workspace

git clone https://github.com/mjoshi07/turtlebot_roomba.git

Build the workspace

cd ~/roomba_ws
catkin_make 
source devel/setup.bash

Install TurtleBot3

cd ~/roomba_ws/src
git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
cd ~/roomba_ws
catkin_make
source devel/setup.bash

Set turtlebot environment variable in .bashrc

echo "export TURTLEBOT3_MODEL=waffle_pi" >> ~/.bashrc

Run Instructions

Launch everything with launch file, by default record_rosbag argument is set to false

roslaunch turtlebot_roomba turtlebot_roomba.launch

enable the record_rosbag argument and it wil record a rosbag for 30 seconds and save rosbag file in the results directory

roslaunch turtlebot_roomba turtlebot_roomba.launch record_rosbag:=true

NOTE - rosbag will NOT record any messages published at /camera topic

Run with rosrun

open a new terminal

cd ~/roomba_ws
source devel/setup.bash
roslaunch turtleBot3_gazebo turtleBot3_world.launch

open a new terminal

cd ~/roomba_ws
source devel/setup.bash
rosrun turtlebot_roomba turtlebot_roomba_node

Set ROS logger level

while turtlebot_roomba_node is running

rosservice call /turtlebot_roomba/set_logger_level "{logger: 'rosout', level: 'debug'}"

Rosbag details

set the launch_gazebo flag to false in the launch command, assuming rosbag file was recorded

roslaunch turtlebot_roomba turtlebot_roomba.launch launch_gazebo:=false

check the recorded ros bag

rosbag info rosbag_topics_record_2021-11-27-01-45-21.bag

you should see something like this, check there should be no topic /camera

path:        rosbag_topics_record_2021-11-27-01-45-21.bag
version:     2.0
duration:    30.0s
start:       Dec 31 1969 19:00:00.17 (0.17)
end:         Dec 31 1969 19:00:30.14 (30.14)
size:        48.8 MB
messages:    126159
compression: none [64/64 chunks]
types:       dynamic_reconfigure/Config            [958f16a05573709014982821e6822580]
             dynamic_reconfigure/ConfigDescription [757ce9d44ba8ddd801bb30bc456f946f]
             gazebo_msgs/LinkStates                [48c080191eb15c41858319b4d8a609c2]
             gazebo_msgs/ModelStates               [48c080191eb15c41858319b4d8a609c2]
             geometry_msgs/Twist                   [9f195f881246fdfa2798d1d3eebca84a]
             nav_msgs/Odometry                     [cd5e73d190d741a2f92e81eda573aca7]
             rosgraph_msgs/Clock                   [a9c97c1d230cfc112e270351a944ee47]
             rosgraph_msgs/Log                     [acffd30cd6b6de30f120938c17c593fb]
             sensor_msgs/Imu                       [6a62c6daae103f4ff57a132d6f95cec2]
             sensor_msgs/JointState                [3066dcd76a6cfaef579bd0f34173e9fd]
             sensor_msgs/LaserScan                 [90c7ef2dc6895d81024acba2ac42f369]
             tf2_msgs/TFMessage                    [94810edda583a504dfda3829e70d7eec]
topics:      /clock                           29963 msgs    : rosgraph_msgs/Clock                  
             /cmd_vel                           149 msgs    : geometry_msgs/Twist                  
             /gazebo/link_states              29877 msgs    : gazebo_msgs/LinkStates               
             /gazebo/model_states             29874 msgs    : gazebo_msgs/ModelStates              
             /gazebo/parameter_descriptions       1 msg     : dynamic_reconfigure/ConfigDescription
             /gazebo/parameter_updates            1 msg     : dynamic_reconfigure/Config           
             /imu                             26413 msgs    : sensor_msgs/Imu                      
             /joint_states                      897 msgs    : sensor_msgs/JointState               
             /odom                              897 msgs    : nav_msgs/Odometry                    
             /rosout                           3525 msgs    : rosgraph_msgs/Log                     (4 connections)
             /rosout_agg                       3516 msgs    : rosgraph_msgs/Log                    
             /scan                              149 msgs    : sensor_msgs/LaserScan                
             /tf                                897 msgs    : tf2_msgs/TFMessage

play the recorded ros bag

rosbag play rosbag_topics_record_2021-11-27-01-45-21.bag

verify this by running the rqt graph

rqt_graph

you should see something like this

mjoshi07 / turtlebot_roomba Goto Github PK