Amazebot Driver Package

ROS Driver of the Amazebot. Data is shared between the Arduino Mega and the Raspberry Pi through the serial port. Several nodes are available, including the square test to highlight odometry errors, robot bringup, as well as the wallfollowing package applied on the actual robot.
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Table of Contents

• About the Project
• Setup
• Run
  • Reactive
  • Teleoperation
• Roadmap
• Contribute
• License
• Contact
• Contributors

About the Project

This simulation package was developed during the Robotcraft '19 program. A basic right hand follower algorithm was provided by the supervisers but we decided to tune a P(ID) controller, which resulted in a smoother drive than anyone for the amazebot !

Setup

To setup ROS, run the "install_melodic.sh" script in the scripts directory using sh install_melodic.sh or chmod+x scripts/install_melodic.sh && ./ install_melodic.sh

You can also use tutorials. There's a bunch of them, including in the ros wiki.

Now that you have ROS, to setup the project on your local machine:

1. Click on Fork.
2. Go to your fork and clone the project to your local machine, in the "catkin_ws" folder.
3. git clone https://github.com/robotcraft19/robotcraft-ros-driver.git
4. git clone https://github.com/robotcraft19/robotcraft-model-description.git
5. Make sure you have rosdep install : sudo apt-get install python-rosdep && sudo rosdep init
6. cd ~/catkin_ws
7. rosdep install --from-paths src --ignore-src -r -y
8. In the catkin workspace : catkin_make

If everything went smoothly, you should now have this repo's package as well as its dependencies.

The amazebot model description package is necessary to run simulations. The urdf description and rviz models are stored in this repository. (Yay you can see our robot !)

Run

Running the nodes is quite easy as launch files were made.

Configuration :

• Amazebot Controller : roslaunch robotcraft-ros-driver amazebot.launch
• Amazebot Bringup : roslaunch robotcraft-ros-driver robot_bringup.launch
• Amazebot ROS Driver : roslaunch robotcraft-ros-driver robot_driver.launch
• Amazebot Arduino Com : roslaunch robotcraft-ros-driver robot_firmware.launch

Tests :

• Stage Simulation : roslaunch robotcraft-ros-driver stage_test.launch
• Draw A Square : roslaunch robotcraft-ros-driver robot_test.launch

Maze Solver :

• Wallfollower : roslaunch robotcraft-ros-driver wallfollower.launch

Roadmap

See the open issues for a list of proposed features (and known issues).

Contribute

Contributions are what make the open source community such an amazing place to learn, inspire, and create. Any contributions you make are greatly appreciated.

Contribute on proposed features

1. Choose any open issue from here.
2. Comment on the issue: Can I work on this? and get assigned.
3. Make changes to your fork and send a PR.

Otherwise just create the issue yourself, and we'll discuss and assign you to it if serves the project !

To create a PR:

Follow the given link to make a successful and valid PR: https://help.github.com/articles/creating-a-pull-request/

To send a PR, follow these rules carefully, otherwise your PR will be closed:

1. Make PR title in this formats:

Fixes #IssueNo : Name of Issue

Feature #IssueNo : Name of Issue

Enhancement #IssueNo : Name of Issue

According to what type of issue you believe it is.

For any doubts related to the issues, i.e., to understand the issue better etc, comment down your queries on the respective issue.

License

Distributed under the MIT License. See LICENSE for more information.

Contact

Erwin Lejeune - @spida_rwin - erwin.lejeune15@gmail.com

Contributors

Everyone part of the original team or that assisted throughout the development.

• Nicolas Filliol
• Jan Tiepelt
• Giovanni Alexander Bergamaschi
• Oleksandr Koreiba
• Erwin Lejeune