suljaxm / mobile-robot-sim

four wheeled robot simulator built with ROS

mobile-robot-sim

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Dependencies

• ubuntu.
• ROS Kinetic if you have Ubuntu 16.04.

Cloning

Clone the project repository: git clone https://github.com/suljaxm/mobile-robot-sim.git

TODO

• keyboard control
• voice control
• object detection
• virtual binocular calibration
• two wheeled robot navigation
• four wheeled robot navigation

Compiling and Running

Compiling

cd mobile-robot-sim/src
catkin_init_workspace
cd ..
catkin_make

Running

First we need to set up the environment before we can run the modules.

source mobile-robot-sim/devel/setup.bash

• Multi-Sensor Car

roslaunch mbot_gazebo view_mbot_with_sensor_gazebo_automobile.launch 

• Voice-Control Car

  • dependencies(xfyun_sdk)

   sudo cp libmsc.so /usr/lib
   sudo apt install sox
   sudo apt install libsox-fmt-all
  

   For details on how to use the sdk, see https://www.xfyun.cn.
  

  • start car simulation

   roslaunch mbot_gazebo view_mbot_gazebo_empty_world_automobile.launch 
  

  • start the voice control node

   roslaunch robot_voice voice_control_automobile.launch 
  

  • wake up the voice-control node

   rostopic pub /voiceWakeup std_msgs/String "data: '1'" 
  

• SLAM

  • start car simulation

   roslaunch mbot_gazebo mbot_laser_nav_gazebo_automobile.launch
  

  • start the slam node

   roslaunch mbot_navigation gmapping_demo.launch
  

• Navigation

  • start sweeping robot simulation

  roslaunch mbot_gazebo mbot_laser_nav_gazebo_sweep.launch
  

  • load map

  roslaunch mbot_navigation nav_maze_demo.launch 
  

  • set navigation goal

  rosrun mbot_navigation move_test.py
  

  

• SLAM && Navigation

  • start sweeping robot simulation

   roslaunch mbot_gazebo mbot_laser_nav_gazebo_sweep.launch
  

  • start the navigation node

   roslaunch mbot_navigation exploring_slam_demo.launch
  

  • set navigation goals

   rosrun mbot_navigation exploring_random.py 
  

  

• Object-Find

  1. SLAM
  • start sweeping robot simulation

   roslaunch mbot_gazebo mbot_maze_gazebo.launch
  

  • start the slam node

   roslaunch mbot_navigation exploring_slam_demo.launch
  

  • start the object-find node

   roslaunch mbot_vision find_target.launch
  

  2. Navigation
  • start sweeping robot simulation

   roslaunch mbot_gazebo mbot_maze_gazebo.launch
  

  • start the navigation node

   roslaunch mbot_navigation nav_maze_demo.launch
  

  • start the object-find node

   roslaunch mbot_vision find_target_pro.launch