mir_robot_aole

Pilot project for Aalto University Factory of the Future in the Cloud

Version 1.0.2

Dependencies

Operating System: Ubuntu 18.04;

Installed Robot Operationg System (ROS), version - melodic (installation instruction: http://wiki.ros.org/ROS/Installation);

Installed Gazebo simulator, version 9.0.0

rospy library (installs automatically with ROS)

Installation

create a catkin workspace

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

clone mir_robot_aole project into the catkin workspace

git clone -b melodic https://github.com/Ivan2488/mir_robot_aole.git

use rosdep to install all dependencies (including ROS itself)

sudo apt-get update -qq sudo apt-get install -qq -y python-rosdep sudo rosdep init rosdep update rosdep install --from-paths ./ -i -y --rosdistro melodic

build all packages in the catkin workspace

source /opt/ros/kinetic/setup.bash catkin_init_workspace cd ~/catkin_ws catkin_make -DCMAKE_BUILD_TYPE=RelWithDebugInfo

Running Simulation

1. Open a terminal window and type the following command to initialize simulation and robot description nodes:

roslaunch mir_gazebo mir_SF_world.launch

2. Open another terminal window and type the following command to initialize the position controller node:

rosrun move_node old_contr.py

The node takes coordinates and provides velocity control signals to the robot

3. The control node code can be accessed at "/home/amr/catkin_ws_3/src/mir_robot/move_node/src/old_contr.py".

Change the control algorithm according to your needs.

Possible improvements

Different improvements can be made to optimize and develop the project in future:

1. Put ROS nodes-topics communication-related parts of old_contr.py script into separate file in order to receive a higher level of abstraction during development of control algorithm.

2. Include SLAM (Simultaneous Localization And Mapping) algorithm into control node by using LiDAR sensor data

3. Add more models related to Aalto Smart Factory (e.g. Conveyors) to the environment world located at YOUR_CATKIN_WS/src/mir_robot_aole/mir_gazebo/sdf/SF/model1.world"

4. Implement control of several robots

Contributors

• Ivan Kolodko ivan.kolodko@aalto.fi
• Udayanto Atmojo udayanto.atmojo@aalto.fi

License & Copyright

MiR100 robot model description, parts of launch files. Copyright (c) 2018, DFKI GmbH, BSD License (https://github.com/dfki-ric/mir_robot)

The rest of this project is licensed under Apache 2 license