RajPShinde/Autonomous_Wheelchair

Authors

Raj Prakash Shinde Porfolio
Shubham Sonawane Porfolio
Prasheel Renkuntla Porfolio

Description

A ROS Package to make a Differential-Drive Wheelchair Navigate Autonomously in an indoor Environment using onboard LiDAR and Sonar Sensors. The Wheelchair provides manual control to user through a joystick, in case the wheelchair deviates from its path.

Dependencies

Ubuntu 16.04 or >
ROS Kinetic or >
Navigation Stack

Sprint Planning and Discussion

Sprint Discussion's - Link

Agile Iterative Process Log

Access Product Backlog, Worklog & Iteration Log here- Link

Build

Steps to build

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
source devel/setup.bash
cd src/
git clone https://github.com/RajPShinde/Autonomous_Wheelchair
cd ~/catkin_ws/
catkin_make

To build tests

catkin_make tests

Run

Mapping

source devel/setup.bash
roslaunch autonomous_wheelchair simulationMapping.launch

Navigation

source devel/setup.bash
roslaunch autonomous_wheelchair simulationNavigation.launch

Tests

source devel/setup.bash
catkin_make run_tests

TODO

REplace with TEB Motion Planner

Bugs

None

Disclaimer

BSD 3-Clause License

Copyright (c) 2020, Raj Shinde
Copyright (c) 2020, Prasheel Renkuntla
Copyright (c) 2020, Shubham Sonawane
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this
   list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice,
   this list of conditions and the following disclaimer in the documentation
   and/or other materials provided with the distribution.

3. Neither the name of the copyright holder nor the names of its
   contributors may be used to endorse or promote products derived from
   this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

RajPShinde / Autonomous_Wheelchair