jackal_minefield_simulator

This repository contains the simulation environment of Jackal for HRATC 2017 Challenge.

For this simulation, I changed the rover from the one provided by HRATC 2017 to Jackal. After changing the rover, I added several sensors to the default Jackal platform, including metal detector sensor, camera, and lidar. I also had to change some variables in the code to match the variables published by Jackal.

You can find the navigation alogrithm here. Read the full documentation on my website!

Results:

1. Waypoint Following + Landmine Detection, without Obstalces

2. Waypoint Following + Landmine Detection + Obstacle Avoidance

For the full video, click here

Install Dependencies:

This is a manual way to install necessary packages :

sudo apt-get install ros-kinetic-robot-localization ros-kinetic-controller-manager ros-kinetic-joint-state-controller ros-kinetic-diff-drive-controller ros-kinetic-gazebo-ros ros-kinetic-gazebo-ros-control ros-kinetic-gazebo-plugins             ros-kinetic-lms1xx ros-kinetic-pointgrey-camera-description ros-kinetic-roslint ros-kinetic-amcl ros-kinetic-gmapping      ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-message-runtime ros-kinetic-topic-tools ros-kinetic-teleop-twist-joy

Create a workspace and clone sources

Jackal Sources:

mkdir -p jackal_minefield_ws/src; cd jackal_ws/src; catkin_init_workspace
git clone https://github.com/jackal/jackal.git
git clone https://github.com/jackal/jackal_desktop.git
git clone https://github.com/fazlurnu/jackal_minefield_simulator.git
git clone https://github.com/fazlurnu/jackal_minefield_template.git

HRATC 2017 Sources:

git clone https://github.com/phir2-lab/metal_detector_msgs.git

Build and source

cd jackal_minefield_ws; catkin_make; source devel/setup.bash

Start simulation :

In terminal 1 :

roslaunch jackal_gazebo minefield.launch

In terminal 2 :

rosrun jackal_minefield_template navigation.py