pvela2017 / ksam-2022-robotic-competition Goto Github PK

Description

Add DWA to our ROS package.

Tasks

• Test TEB in real world

• Tune TEB in real world

• Create more scenarios in Gazebo

• #8

• Tune TEB

• Test TEB in Gazebo

• Add DWA

• Test it on Gazebo

• Test it with real robot

Description

Tasks to complete our real robot. (2 robots)

Tasks

• Install ubuntu 20.04
• Install ros-noetic
• Install graphical env.
• Install VNC
• Setup VNC
• Check all the ros package are installed by running our repo.
• Design piece to mount cameras.
• Test IMU.
• Test LIDAR
• Make real obstacles
• Decrease height of the robot
• Design piece to mount Jetson Nano on the back
• Mount Jetson Nano
• Implement LEDs.
• Implement launch button for the competition.
• Fix Lidar position and give me the x,y,z coordinates.
• Define our test cases for the real robot.
  Doheon
• Mount cameras.
• Test cameras.
• Print 2 board bridge
• Back on NX2
• Connect 2 board
• Connect fan
• 아크릴
• Standing tree without bottom tree

In file: turtlebot3_navigation.launch

<launch>
  <!-- Arguments -->
  <arg name="model" default="burger" doc="model type [burger, waffle, waffle_pi]"/>
  <arg name="sim_real" default="" doc="Run simulation or real robot [simulation, real]"/>
  <arg name="planner" default="" doc="model type [dwa, teb]"/>
  <arg name="map_file" default="$(find turtlebot3_navigation)/maps/map_005.yaml"/>
  <arg name="open_rviz" default="true"/>
  <arg name="move_forward_only" default="false"/>

Parameters sim_real and planner cannot work together

Description

Karto and Gmapping SLAM related problems.

High Priority

• Simulation: Gmapping map size is 2240x2240 meters.

   How to run:  `roslaunch robot_slam robot_slam_simulation.launch slam_method:=gmapping`
  

• Real: Karto lidar reading

Description
Adapt our simulation model to our actual robot

Tasks

• Change Lidar range
• Set Lidar position as the one we will use in the real robot
• Set cameras position as the one we will use in the real robot
• Set cameras parameters ( FOV, etc)
• Modify robot structure (optional)
• Test in Gazebo

Description
The index of the array was out of range during the competition.
Cause: Unknown

High Priority

https://github.com/mefisto2017/KSAM-2022-Robotic-Competition/blob/a81e5617a9d78d891208bf637130694c682b05a3/ros/src/robot_competition/src/tree_labels.py#L31

When running TEB following error is displayed on GAZEBO:
[ERROR] [1660560429.465558481, 17.960000000]: Client [/move_base] wants topic /scan to have datatype/md5sum [sensor_msgs/PointCloud/d8e9c3f5afbdd8a130fd1d2763945fca], but our version has [sensor_msgs/LaserScan/90c7ef2dc6895d81024acba2ac42f369]. Dropping connection.