Master Project Uni Siegen

Master Project: SLAM and Path Planning for Follow Me Function in an autonomous delivery robot under the guidance of Prof. Dr.-Ing. Stephen Schmidt

Project Documentation

1. 3D-Mapping

Using this package you can build a map of any environment. Just save your gazebo world file (world_name.world) in the in 3D_Mapping/src/follow_me/worlds/ folder and update the world.launch file in in 3D_Mapping/src/follow_me/launch/ folder.

Clone this repository:

  git clone https://github.com/ibadrather/Master_Project_Uni_Siegen.git

Install the rtabmap package from ROS:

  sudo apt install ros-noetic-rtabmap-ros

Installing dependencies:

  cd 3D_Mapping
  sudo apt-get update -y
  sudo apt-get install -y xterm
  rosdep install --from-paths src --ignore-src -r -y

Now to map the environment make the mapping.sh file executable and run it. This file will run all the necessary nodes automatically.

  cd /src/follow_me/scripts/
  chmod +x mapping.sh
  ./mapping.sh

Move the robot around in the environment with appropriate speed. This will build the map. To save the map at any stage run in any terminal:

  rosrun map_server map_saver -f map_name

This will save the map_name.pgm and map_name.yaml files in the current working directory of the terminal.

Once you are done close the terminals. To view the output rtabmap database, use the following command in the terminal:

  rtabmap-databaseViewer ~/.ros/rtabmap.db

2. SLAM-Gmapping

Using this package you can build a map of any environment. Just save your gazebo world file (world_name.world) in the in Follow_me_gmapping/src/follow_me/worlds/ folder and update the world.launch file in in Follow_me_gmapping/src/follow_me/launch/ folder.

Clone this repository

  git clone https://github.com/ibadrather/Master_Project_Uni_Siegen.git

Install the rtabmap package from ROS:

  sudo apt install ros-noetic-gmapping

Installing dependencies:

  cd Follow_me_gmapping
  sudo apt-get update -y
  sudo apt-get install -y xterm
  rosdep install --from-paths src --ignore-src -r -y

Now to map the environment make the gslam.sh file executable and run it. This file will run all the necessary nodes automatically.

  cd /Follow_me_gmapping/src/scripts/
  chmod +x gslam.sh
  ./gslam.sh

Move the robot around in the environment using teleop with appropriate speed. This will build the map. To save the map at any stage run in any terminal:

  rosrun map_server map_saver -f map_name

This will save the map_name.pgm and map_name.yaml files in the current working directory of the terminal.

3. Path Planning

Clone this repository:

  git clone https://github.com/ibadrather/Master_Project_Uni_Siegen.git

Install the necesarry packages from ROS:

  sudo apt-get install ros-kinetic-gmapping
  sudo apt-get install ros-kinetic-move-base
  sudo apt-get install ros-kinetic-navigation

Install other dependencies:

  cd Path_Planning
  rosdep install --from-paths src --ignore-src -r -y
  sudo apt-get update -y
  sudo apt-get install -y xterm

To perform navigation:

  cd src/scripts
  chmod +x navigation.sh

Then run the file with the command:

  ./navigation.sh

Give the robot its 2D Nav Goal in Rviz console and the path planner will calculate a trajectory for it and tghe robot will start going to its goal position.

To use this for your own Gazebo World, copy the world file (my_world.world) to /Path_Planning/src/worlds/ folder and the my_world_map.pgm & my_world_map.yaml files to Path_Planning/src/map/ folder. Update the navigation.sh file and then run it using:

  ./navigation.sh

Then you can send the navigation goals to the robot and it will calculate a path and then go the target position in the environment.