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!
1. Waypoint Following + Landmine Detection, without Obstalces
2. Waypoint Following + Landmine Detection + Obstacle Avoidance
For the full video, click here
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
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
cd jackal_minefield_ws; catkin_make; source devel/setup.bash
In terminal 1 :
roslaunch jackal_gazebo minefield.launch
In terminal 2 :
rosrun jackal_minefield_template navigation.py