Univr Cyberphysical Lab course - Homework 2

Second homework assignement of the Cyberphysical Lab course at University of Verona, academic year 2017/2018.

The assignment was the following:

Create a Gazebo world which replicates one of these environments:

• A room of the Computer Science department at University of Verona
• A reconstruction of the TurtleBot3 auto race circuit

Then, generate and save a map of the environment using the virtual TurtleBot3 simulator. Make a video showing the robot completing a path with RViz

We chose to make a model of the boys' bathroom, the vending machine room and another adiacent room of the Ca' Vignal 2 department's basement.

Package structure

The package contains the following files:

• bagni_e_macchine.world which contains the XML definition of the simulation world
• ros_homework2.launch which is the ROS launcher file
• setup.sh which is a Bash script that copies the files in the turtlebot3_simulation package Inside the ros_homework2 directory there's the Collada model of the world.

How to launch

Be sure to have the turtlebot3_simulations package installed in your workspace (check here for details). Simply clone the repository into your ROS workspace, then run setup.sh. Assuming that your workspace is in ~/catkin_ws, the commands are:

git clone https://github.com/JackHack96/ros_homework2.git
./setup.sh

Screenshots

1. Creation of the map with RViz and SLAM

2. Autonomous navigation in our map created in the previous point

For other screenshots, refer to the screenshot folder.

Video

Used software

• Autodesk© AutoCAD© 2018 for modeling the world
• Blender for converting the model in Collada DAE format and adjusting it
• Gazebo for the actual simulation

Authors

• Matteo Iervasi - Bathroom model, launcher and setup file
• Luca Arietti - Vending machine model, video recording
• David Alessandrini - Third room model, video editing

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This file is part of ros_homework2 and it is distributed under the terms of the GNU General Public License 3

ros_homework2 is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 3 for more details.

You should have received a copy of the GNU General Public License along with ros_homework2. If not, see http://www.gnu.org/licenses/.