Agilex-Scout-Mini-Gazebo-Navigation

ROS Navigation Stack with AgileX SCOUT-mini Gazebo Simulator

Implementation of Autonomous Driving System with AgileX SCOUT-mini gazebo simulator

0. Install the Gazebo software

Gazebo is a robot simulator. Gazebo simulates multiple robots in a 3D environments, with extensive dynamic interaction between objects.

Gazebo Download Link : http://gazebosim.org

Download and install gazebo. You can go to the website : http://gazebosim.org/install

1. Installation

Development Environment ubuntu 20.04 + ROS Noetic desktop full

Build ROS packages for Scout simulator

Create worksapce, download ROS packages

mkdir -p ~/scout_ws/src
cd ~/scout_ws/src
git clone --recurse-submodules https://github.com/hjinnkim/Agilex-Scout-Mini-Gazebo-Navigation.git

Install required ROS packages
```
cd Agilex-Scout-Mini-Gazebo-Navigation
sh install_packages.sh
```
Gmapping, Navigation, Robot_localization packages will be downloaded
Install dependencies and build
```
cd ~/scout_ws
rosdep install --from-paths src --ignore-src -r -y
catkin_make
```
rosdep install command will automatically install the required dependencies for the packages in the workspace. The dependencies are listed in CMakeLists.txt file in the packages.

2. Usage

Display platform description in RVIZ
```
cd ~/scout_ws
source devel/setup.bash
roslaunch scout_description display_scout_mini.launch 
```
This will show you default vehicle platform without additional sensors.

Launch gazebo simulator and teleop control

a. Launch gazebo simulator

cd ~/scout_ws
source devel/setup.bash
roslaunch scout_gazebo_sim scout_mini_empty_world.launch

b. Run teleop controller (move: w, a, x, d / stop: s)

//Open another terminal

cd ~/scout_ws
source devel/setup.bash
roslaunch scout_teleop scout_teleop_key.launch

3. 2D SLAM

Before running any command below, source devel/setup.bash

Run Simulator

roslaunch scout_gazebo_sim scout_mini_playpen.launch

Odometry & Kalman Filter Localization

roslaunch scout_base scout_mini_base.launch

roslaunch scout_filter ekf_filter_cmd.launch

SLAM mapping

a. Gmapping

// Run gmapping slam
roslaunch scout_slam scout_slam.launch

b. Drive & mapping

// Drive via teleop
roslaunch scout_teleop scout_teleop_key.launch

c. Save map

// Save map
roslaunch scout_slam gmapping_save.launch

default map file name: map1
map file will be saved in "scout_bringup/scout_slam/maps"
you can change saved map file name in the launch file

or you can set file name

roslaunch scout_slam gmapping_save.launch map_file:=(file name)

3. 2D Navigation

Before running any command below, source devel/setup.bash

Run Simulator

roslaunch scout_gazebo_sim scout_mini_playpen.launch

Odometry & Kalman Filter Localization

roslaunch scout_base scout_mini_base.launch

roslaunch scout_filter ekf_filter_cmd.launch

Navigation

// Run navigation
roslaunch scout_navigation scout_navigation.launch

you can set the destination via "2D Nav Goal" button

Simulator Examples

Sensor settings

Please refer sensor directory

References

agilexrobotics/scout_ros github repo

hjinnkim / Agilex-Scout-Mini-Gazebo-Navigation