MobileRobot-Assignment

Mobile Robotics (18MHE458T) Assignment by JAYACHANDRAN(RA1911038010019)

System Requirement

• Ubuntu 20.04
• ROS-Noetic

If you don't have the mentioned setup, use my ROSJECT project which provides every thing you need to start with
https://app.theconstructsim.com/#/l/43de08e3/
If the above mentioned link didn't work go to this website https://app.theconstructsim.com/#/Rosjects and search for
18MHE458T-MobileRobot Assignment by Jayachandran.P.R

[Note]: This repo uses https://github.com/YugAjmera/omni3ros_pkg repo's modifed simulation. For more Documentation check that repository

And give a vist to there paper as well:

@inproceedings{mishra2019ego,
  title={Ego-Centric framework for a three-wheel omni-drive Telepresence robot},
  author={Mishra, Ruchik and Ajmera, Yug and Mishra, Nikhil and Javed, Arshad},
  booktitle={2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO)},
  pages={281--286},
  year={2019},
  organization={IEEE}
}

For kinematic equation refer this video:
https://www.youtube.com/watch?v=NcOT9hOsceE

Getstart with Workspace

Clone the repo in ~/your_workspace/src by

• git clone https://github.com/WCjai/MobileRobot-Assignment.git
  then use these cmd
  sudo apt-get install ros-neotic-gazebo-config
sudo apt-get install ros-noetic-velocity-controllers
  Then use catkin_make to complile

Bringup simulation

• To bringup simulation use this cmd
  - roslaunch omni3ros_pkg velocity_controller.launch

In that it launches your simulation with kinematic code and transform between Ground_plane(ie Global frame) and open_base (ie your_robot). You can find the code for kinematic and transform in ~/your_workspace/src/MobileRobot-Assignment/omni3ros_pkg/src in which cmd_vel.py for kinematic and odom_pub.py for transform.

Waypoint

• To make the robot move autonomusly to point to point use this cmd:
  rosrun omni3ros_pkg waypoint1.py
• To enter coustom waypoint, go to this directory ~/your_workspace/src/MobileRobot-Assignment/omni3ros_pkg/src and open waypoint1.py, Then go to line 30 and enter your x and y coordinates. You can add more than 5 waypoint simply by adding new set to the array