The Ultimate Gazebo Workspace - rhinoceROS 🦏

Contents:

ros_service - A global planner service package.

atreus Ω - A package containing a mutlipurpose four- wheeled differential drive robot equipped with sensors such as IntelRealSense R200 Depth Camera, LiDAR, Ultrasonics, GPS, IMU, Magnetometer and a pair of cameras.

Functionality:

• Obstacle Avoidance with soft turning using pcl processing (passthrough + voxel + ransac + euclidean clustering + centroidal analysis).

• Detection of slope angle and ditch depth by using a sonar panel.

• Dynamic traversal using GPS and IMU to reach desired location along with sonar obstacle avoidance.

• Ability of localisation by using 2 independent EKFs.

• Teleoperation with respect to waypoints/time by path smoothening.

• Alvar Gate Traversal.

• Tennis Ball Detection.

Installation

Run a catkin make in the rhinoceROS folder:

catkin_make

Source the bash script in the devel folder in rhinoceROS:

source ~/Gazebo/rhinoceROS/devel/setup.bash

For basic bot simulation:

roslaunch atreus spawn_my_bot.launch

Errors

• Run the following command if the traffic light does not glow red:

   sudo apt-get install ros-melodic-gazebo-* && sudo apt-get install gazebo9 && sudo apt-get install libgazebo9* && sudo apt-get --reinstall install libignition-math4 && sudo apt-get --reinstall install libignition-math4-dev && sudo apt-get upgrade
  

• Run the following command if the GPS and IMU sensors values are not seen through a rostopic list:

   sudo apt-get install ros-melodic-hector-gazebo-plugins
  

• In case if you don't have the ROS package ar track alvar:

   sudo apt-get install ros-melodic-ar-track-alvar