ipa-rar / KCLPlanning-turtlebot

Package summary

• 3rd_party packages

  • [ROSPlan related packages]
    • Occupancy_grid_utils
    • ROSPlan
    • rosplan_demos
  • [Turtlebot3 related packages]
    • turtlebot3
    • turtlebot3_applications
    • turtlebot3_applications_msgs
    • turtlebot3_msgs
    • turtlebot3_simulations
  • [AR marker Visual Detection]
    • ar_track_alvar

• rosplan_custom_actions

  • [Custom action interfaces related packages]
    • rosplan_interface_localization
    • rosplan_interface_docker
    • ar_dock_motion_server

• rosplan_interface_custom_demo

• ar_marker_17

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Dependencies

Please check and install the dependecies:

For ROSPlan:

sudo apt install flex bison freeglut3-dev libbdd-dev python-catkin-tools ros-$ROS_DISTRO-tf2-bullet

For Turtlebot3 ROS packages:

please change distro from kinetic to melodic

NOTE: Before executing any turtlebot command, please add ONE of the following line to your ~/.bashrc

export TURTLEBOT3_MODEL=burger
export TURTLEBOT3_MODEL=waffle
export TURTLEBOT3_MODEL=waffle_pi

NOTE: Please copy the ar_marker_17 folder to ~/.gazebo/models
This marker models is the 'docking station' spot for turtlebot3 in Gazebo

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ROSplan + test [undock, localize , dock] custom action interface

This turtblebot will execute rosplan actions [undock, localize, dock ] in the ROSplan in Gazebo

Terminal 1 -- To bringup Gazebo simulator and Rviz with ROSplan custom action interfaces

roslaunch rosplan_interface_custom_demo turtlebot3_dock_loc_undock.launch

Terminal 2 -- Generate plans

cd {YOUR_WORKSPACE_NAME}/src/rosplan_interface_custom_demo/scripts/
./simulated_actions.bash

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ROSplan + test [goto_waypoints] action interface

This turtblebot will execute rosplan actions [goto_waypoints] in the ROSplan in Gazebo

Terminal 1 -- To bringup Gazebo simulator and Rviz with ROSplan custom action interfaces

roslaunch rosplan_interface_custom_demo turtlebot3_gt_wp.launch 

Terminal 2 -- Generate plans

cd {YOUR_WORKSPACE_NAME}/src/rosplan_interface_custom_demo/scripts/
./turtlebot_explore.bash

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Current Issues

1. auto plan generation issue:

   • valid plan can be generated only when using the 4 cmd in simulated_action.bash
   • when insert waypoint the plan is unsolvable
   • problem raised at this link

2. Things to optimize:

   1. Dock action is not perfect due to using visual marker

      • once the robot is near the dock , marker will disappear from camera which causes marker location undefine
      • need to develop extra module to detect the robot is already at docking station

   2. Launching by bash file

      • need to convert into python script/ launch file with service node