Atreus

This package contains a mutlipurpose four-wheeled skid-steer drive robot equipped with sensors such as IntelRealSense D435 Depth Camera, LiDAR, Ultrasonics, GPS, IMU, Magnetometer and a pair of cameras.

Functionality

• Obstacle Avoidance with soft turning using pcl processing (passthrough + voxel + RANSAC + euclidean clustering + centroidal analysis).

• Detection of slope angle and ditch depth by using a sonar panel.

• Dynamic traversal using GPS and IMU to reach desired location along with sonar obstacle avoidance.

• Ability of localisation by using two independent EKFs.

• Teleoperation with respect to waypoints/time by path smoothening.

• Alvar Gate Traversal.

• Tennis Ball Detection.

• Fully integrated with move_base:

  

• Custom Global Planner:

  

• Traffic Light Model:

  

Dependencies

• ar_track_alvar

• realsense_gazebo_plugin

• gzsatellite

• aws_robomaker_small_warehouse_world

• You can use the helper script to download all these repositories to the directory above the current path:

  ./clone_repos.sh
  

Installation

• Install all the required ROS related dependencies:

  rosdep install --from-paths src --ignore-src -r -y
  

• To install all python related dependencies:

  pip install -r requirements.txt
  

• To install all Mapviz related dependencies:

  ./mapviz_install.sh
  

• For basic bot simulation:

  roslaunch atreus xacro.launch
  

Optional

• To add an additional python dependency to the list, modify requirements.in and add a trailing library to the file. After which you need to install the following dependencies in order to use pip-compile:

  pip install pip-tools launchpadlib
  

• Finally use pip-compile to generate a requirements.txt file from requirements.in:

  pip-compile requirements.in
  

Errors

• Run the following command if the traffic light does not glow red:

  ./traffic_light_dep_fix.sh
  

• Run the following commands if the map cache in mapviz does not appear.
  Based on the errors displayed, correspondingly run the commands and then launch mapviz:

1. ERROR: 1 or ERROR: 203

   sudo docker run -p 8080:8080 -d -t -v ~/mapproxy:/mapproxy danielsnider/mapproxy
   

2. ERROR: 2 or ERROR: 401

   sudo docker container ls
   
   sudo docker stop {container id}
   
   sudo docker run -p 8080:8080 -d -t -v ~/mapproxy:/mapproxy danielsnider/mapproxy
   

3. ERROR: 302

   Configured correctly. Poor internet connection.
   

💾 EOF