ME5413_Planning_Project

NUS ME5413 Autonomous Mobile Robotics Planning Project

Authors: Ziggy and Shuo

Dependencies

• System Requirements:
  • Ubuntu 20.04 (18.04 not yet tested)
  • ROS Noetic (Melodic not yet tested)
  • C++11 and above
  • CMake: 3.0.2 and above
• This repo depends on the following standard ROS pkgs:
  • roscpp
  • rospy
  • rviz
  • std_msgs
  • nav_msgs
  • geometry_msgs
  • visualization_msgs
  • tf2
  • tf2_ros
  • tf2_eigen
  • tf2_geometry_msgs
  • gazebo_ros
  • jsk_rviz_plugins
  • jackal_gazebo
  • jackal_navigation
  • velodyne_simulator
  • dynamic_reconfigure

Installation

This repo is a ros workspace, containing three rospkgs:

• me5413_world the main pkg containing the gazebo world, source code, and the launch files
• jackal_description contains the modified jackal robot model descriptions

Note: If you are working on this project, it is encouraged to fork this repository and work on your own fork!

After forking this repo to your own github:

# Clone your own fork of this repo (assuming home here `~/`)
cd
git clone https://github.com/<YOUR_GITHUB_USERNAME>/ME5413_Planning_Project.git
cd ME5413_Planning_Project

# Install all dependencies
rosdep install --from-paths src --ignore-src -r -y

# Build
catkin_make
# Source
source devel/setup.bash

Usage

0. Gazebo World

This command will launch the gazebo with the project world

# Launch Gazebo World together with our robot
roslaunch me5413_world world.launch

1. Path Tracking

In the second terminal, launch the path publisher node and the path tracker node:

# Load a map and launch AMCL localizer
roslaunch me5413_world path_tracking.launch

Student Tasks

• Control your robot to follow the given figure 8 track.

  • You may use any algorithms you like.
  • Implement your algorithms in the src/me5413_world/include/me5413_world/path_tracker_node.hpp and src/me5413_world/src/path_tracker_node.cpp, to replace our template code.
  • Test your algorithms on the track & Report your tracking accuracy.

• In the template code, we have provided you:

  • A dumb PID controller for the throttle.
  • A weird Stanley controller for the steering.
  • However, both are not properly configured or tuned.

• We have provided you a dynamic reconfigure GUI that allows you to tune some of the parameters:

  

• We also provides you six topics (and visualized in RVIZ) that computes the real-time errors between your robot and the tracking path:

  • /me5413_world/planning/abs_position_error ([m], std_msgs::Float32)
  • /me5413_world/planning/abs_heading_error ([deg], std_msgs::Float32)
  • /me5413_world/planning/abs_speed_error ([m/s], std_msgs::Float32)
  • /me5413_world/planning/rms_position_error ([m], std_msgs::Float32)
  • /me5413_world/planning/rms_heading_error ([deg], std_msgs::Float32)
  • /me5413_world/planning/rms_speed_error ([m/s], std_msgs::Float32)

Contribution

You are welcome contributing to this repo by opening a pull-request

We are following:

• Google C++ Style Guide,
• C++ Core Guidelines,
• ROS C++ Style Guide

License

The ME5413_Planning_Project is released under the MIT License