hsa-final-project

Overall structure explaination

This repository contains most of the information of our implementation of "hsa-bot", a mobile robot as the course project for Humanoid Sensor and Acturator course at ICS, TUM. We have implemented

1. the hardware interface communicating with the hsa_bot, both controlling the motor and get the reading from the lidar.
2. the controller to issue cmd_vel command (angular velocity and linear velocity) to the robot.
3. the simulated version of hsa_bot on gazebo.
4. the overall pipeline of slam based on the reading from lidar and the wheel speed reading.

The main implementation is located at workspace/src/hsa_bot, we have a README.md there for the explaination on the package. The controller directory contains the Gamepad controller, communicating over network with ros-core to issue cmd_vel command. The workspace/src/rplidar_ros direcotory is the submodule contains a submodule to read from the lidar sensor.

ROS requirement

version: ROS noetic

required packages

Install the packages first:

$ sudo apt-get install ros-noetic-move-base-msgs
$ sudo apt-get install ros-noetic-navigation
$ sudo apt-get install ros-noetic-map-server
$ sudo apt-get install ros-noetic-move-base
$ sudo apt-get install ros-noetic-amcl
$ sudo apt-get install ros-noetic-slam-gmapping

How to run ROS simulation testing

Clone the project, and initialize the submodule as well.

$ git clone git@github.com:Xiangyu-Fu/hsa-final-project.git
$ git submodule update --init --recursive

Build the workspace, notice the package rplidar_ros only required in real robot.

$ cd workspace
$ catkin build
$ source devel/setup.bash

Run the simulation,

$ roslaunch hsa_bot sim.launch

Now, only Rviz should be opened, and it look like this:

Real Rboot System requirement

Machine: Raspberry Pi 4B

OS: Ubuntu Server 20.04 LTS

Python requirement

• evdev for linux input system read