ROS_Mapping_Platform

About the Project

The project aims to build a middleware layer connecting ROS with non-ROS robots. This project acts as a building block to utilize ROS algorithms and functionalities with robots that do not natively support ROS. The main aim of this project is to provide support for exploration algorithms and autonomous mapping for non-ROS robots and experiment with different environments.

Project Structure

• The Final Project folder contains the final code of the project along with the presentation, documentation file, videos, as well as steps how to setup, run the code, along with the code flow.
• The Implementation Folder includes the various approaches and all the intermediate projects from the beginning,
• The TODOList.txt contains the future tasks where this project can be extended and improved.

Installation

1. ROS

The version of ROS used in this project was ROS Melodic on Ubuntu 18.04.6 (https://releases.ubuntu.com/18.04/).
To install the ros environment and create workspace you can use the below script.

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list
sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update
sudo apt install ros-melodic-desktop-full

To setup the environment

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

Dependencies for building packages

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo apt install python-rosdep
sudo rosdep init
rosdep update

Creating Workspace

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make

Refer http://wiki.ros.org/ documentation

2. Unity

• Install Unity hub (https://unity.com/download)
• Install Unity 2020.3.14f1(lts) and 2019.4.28f1(lts) to run implementation and final project from installs in navigation bar

3. Rosbridge

sudo apt-get install ros-meodic-rosbridge-server

4. Gazebo

Version 9 was used in this project

 curl -ssL http://get.gazebosim.org | sh

or

sudo apt-get install gazebo9
sudo apt-get install libgazebo9-dev

5. rviz

sudo apt-get install ros-melodic-rviz

6. Node.js and npm

sudo apt install nodejs
sudo apt install npm

Contributors

Aditya Pradhan, Arihant Jha

Mentors

Manickam Elangovan, Shilpa Puttegowda Pais, Poornalatha G