Racecar Eklavya

Table of Contents

• About the Project
  • Tech Stack
  • File Structure
  • Project Flow
  • ODG-PF Algorithm Flowchart
• Usage and Guide
  • Prerequisites and Installations
  • Usage
• Results and Demo
• Future Work
• Contributors
• Acknowledgements and Resources
• Project Timeline

About the Project

• Obstacle Avoidance Racecar is an autonomous robot designed in Solidworks and simulated and tested in ROS, Gazebo, RViz, etc. It's main objective is to avoid obstacle using ODG-PF algorithm and line following through OpenCV and PID.
• More about the project full project here.

Tech Stack

• Solidworks
• ROS Noetic
• GAZEBO Sim
• Python3
• RVIZ

File Structure

 📦racecar_eklavya
  ┣ 📂config 
  ┃ ┗ 📜joint_names_racecar_updated_urdf.yaml                       
  ┣ 📂controllers
  ┃ ┣ 📜diff_drive.py                   
  ┃ ┣ 📜imu_reading.py                       
  ┃ ┣ 📜laser_range.py
  ┃ ┣ 📜line_follower.py
  ┃ ┣ 📜obstacle_avoidance.py
  ┃ ┗ 📜obstacle_plus_line.py         
  ┣ 📂launch                           
  ┃ ┣ 📜robot_description.launch
  ┃ ┗ 📜model.sdf                 
  ┣ 📂meshes
  ┃ ┣ 📜base_link.STL                 
  ┃ ┣ 📜FLW_Link.STL                     
  ┃ ┣ 📜FRW_Link.STL
  ┃ ┣ 📜hokuyo.dae
  ┃ ┣ 📜RLW_Link.STL
  ┃ ┗ 📜RRW_Link.STL
  ┣ 📂urdf
  ┃ ┣ 📜my_robot.gazebo          
  ┃ ┣ 📜my_robot.xacro                   
  ┃ ┣ 📜racecar_updated_urdf.urdf
  ┃ ┗ 📜racecar_updated_urdf.csv                     
  ┣ 📂worlds                        
  ┃ ┣ 📜world01.world 
  ┃ ┣ 📜world02.world                    
  ┃ ┗ 📜world03.world                      
  ┣ 📜CMakeLists.txt
  ┣ 📜README.md
  ┗ 📜package.xml

Project Flow

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ODG-PF Algorithm Flowchart

---

Usage and Guide

Prerequisites and Installations

---

- Tested upon UBUNTU 20.04

- ROS Noetic

- Gazebo

Usage

---

1. git clone the main repo in the /src of your catkin_ws using command

cd ~/catkin_ws/src

git clone https://github.com/sameergupta4873/racecar_eklavya.git

2. git clone the ira_laser_tools branch repo in the /src of your catkin_ws using

git clone https://github.com/sameergupta4873/ira_laser_tools.git

3. cd into your catkin_ws and run command

cd ~/catkin_ws

catkin_make

source devel/setup.bash

roslaunch racecar_eklavya world.launch

4. open new terminal again cd into catkin_ws again run command

source devel/setup.bash

roslaunch ira_laser_tools laserscan_multi_merger.launch

5. finally to avoid obstacles again open a new terminal cd into catkin_ws and run command

cd ~/catkin_ws

source devel/setup.bash

rosrun racecar_eklavya obstacle_avoidance.py

6. robot should start moving and avoiding obstacles

Line Following

7. to stop the running script

CTRL + C 

8. Start the line follower script

rosrun racecar_eklavya line_follower.py

Results and Demo

Screen.Recording.2022-10-14.at.4.38.18.PM.mp4

Screen.Recording.2022-10-14.at.5.01.46.PM.mp4

Future Work

• Achieving Line Following using OpenCV and PID
• Acheveing Line Following and Obstacle Avoidance simultaneously

Contributors

• Sameer Gupta
• Yash Rajput

Acknowledgements and Resources

• SRA-VJTI Eklavya 2022
• the Basic Science Research Program through the National Research Foundation of Korea (NRF) for ODG-PF resource paper .
• IRALABS for template for Laser Data Merging .
• Our Mentors Toshan Luktuke , Mark Koothoor and Aryaman Shardul for guiding and helping whenever we were stuck .

Project Timeline

gantt
        SW & URDF :a, 2022-08-17, 1w
        Spawn & Drive : b,after a,1w
        Lidar-Merge & IMU: c, after b, 9d
        Obstacle Avoidance : d , after c , 9d
        Line Following : e , 2022-09-17 , 1w