proneetsharma / tube_driving

A mobile robot is programmed to move from the initial area to goal area autonomously in a defined tube.

Steps to launch simulation

Step 1. Create a catkin workspace

Skip this step if you already have a workspace

$ mkdir -p /home/workspace/catkin_ws/src
$ cd catkin_ws/
$ catkin build

Step 2. Perform a system update

$ apt-get update

Step 3. Clone the package in src

$ cd /home/workspace/catkin_ws/src
$ git clone https://github.com/HBRS-SDP/sdp_ss2020_tube_driving.git
Change the name of the package to 'tube_navigation'.

Step 4. Load dependable packages

Add the following dependable packages in src-
* multi_ropod_sim
* occupancy_grid
* ropod_ros_msgs
* ropod_sim_model
Also save the Goal route message file.
* dock_to_elevator_route_plan.sh

Step 4. Install Dependencies

$ sudo apt-get-install ros-kinetic-amcl

Step 5. Build and source your workspace

$ catkin build
For bash
$ source ~/catkin_ws/src/devel/setup.bash
For zsh
$ source ~/catkin_ws/src/devel/setup.zsh

Step 6. Launch the nodes

$ roslaunch ropod_gazebo multi_robot.launch 
$ roslaunch tube_navigation tube_navigation.launch
$ ./dock_to_elevator_route_plan.sh

The first launch command will launch the rviz with a map and robot in it. The second command will initialize the tube navigation. After running the script file the robot will start moving from start area to goal area.