ROS Autonomous Navigation & Object Avoidance

7 років тому

I configured ROS navigation stack, and robot localization stack on my custom designed mobile robot. The mobile robot calculates its odometry from IMU data and quad-encoder data at a rate of 20Hz. Adaptive Monte Carlo Localization is used to localize the mobile robot within the map. Unique path plans are generated at a continuous rate guiding the mobile robot past its obstacles toward its goal.
GitHub repository: github.com/tgilmour94/ros_amr

КОМЕНТАРІ: 39

@iqbalnurfadhillah9455 6 років тому

what device or microcontroller or sbc that you used in that video for processing?? RPI?

@portolynxmobileadvertising6289 7 років тому

Fantastic, really really cool.

@vinayn4767 2 роки тому

bro i love your project

@lowedavince6613 5 років тому

nice job ! which local planner do u use?

@klaussinvestimentos8350 3 роки тому

Parabens achei genial, será um bom engenheiro eletronico, especialista em robótica. . .

@AlexisPaques 7 років тому

Awesome !!!

@ayashkantavtar3335 4 роки тому

Will this library work for my own hardware robot model? I mean to say motor driver and all..?

@najehmarzouk7838 6 років тому

Hi Thomas, did you test the full coverage map algorithms or the cleaner application with your robot ?

@thomasgilmour671 6 років тому

Najeh Marzouk I'm not sure what you are referring to with "cleaner application"

@GokhanAtali 5 років тому

Hi, i am PHD student and i work same project but i use Turtlebot/Kobuki. Can i do similar localization and object avoidance with my robot by your code. Can you help me this tutorial?

@inventaunmanana4860 6 років тому

Hi! Nice project, thanks for sharing. I have a conceptual question. Say you make your robot, so you have your motors, drivers and motor controller. How is the communication between ROS's Nav Stack and the controllers? For example, the Nav stack says 'explore, go fordward'... how does the robot interpret that message? Thanks

@santiagorondoncardenas8811 5 років тому

The output of the Nav Stack is cmd_vel, this is a geometry_msgs/twist, that contains the velocity for each wheel (in the case of differential robot). The controles must do the transformation between the message and the voltage that the motor need to achieve the order

@inventaunmanana4860 5 років тому

Santiago RONDON CARDENAS thank you. By now, I am already subscribing my Arduino to the cmd velocity message. But nothing is easy xD ive got some troubles with the arduino frecuency to get the odometry from the encoders! Patience i guess..

@ahtishamali431 4 роки тому

same here bro! can u now help me out please? its my final year project

@ajayguhan 7 років тому

any tutorials? with code?

@vinitsaroha1153 4 роки тому

Hey can me share which controller used in and the process for running it

@issacrobin758 2 роки тому

What obstacle avoidance algorithm have you used?

@muhammedafifi6388 6 років тому

Could you please share a screenshot of the rqt graph of the project?

@manodyatashan537 3 роки тому

wow its amazing

@PranshuTople 6 років тому

How did u made the robot? Any tutorial?

@ahmetkagizman2210 6 років тому

Hi, How did you merge ımu and wheel encoder data? For this, did you use arduino ? I want to do the same project too. Could you please help me this topic?

@ahtishamali431 4 роки тому

same here bro! can u now help me out please? its my final year project

@jufeynman4673 4 роки тому

@@ahtishamali431 hey did u figure this out can u help me this also my last year

@haungo3 Рік тому

Hello, If I rotate the camera 90 degrees, will it have any effect? Thanks

@fatemehqanbari5055 5 років тому

how do you give the robot 2D nav goal? I want my robot find special object and move toward. can you help me?

@aaryankothapalli2395 4 роки тому

Hey did you figure this out? I'm working on a similar problem.

@abhisheknalwarkar7682 5 років тому

hello sir, even I'm working on a similar project using hokuyo lidar and Kinect 360 camera please, can you explain this step by step?

@ahtishamali431 4 роки тому

same here bro! can u now help me out please? its my final year project

@suzangray6483 6 років тому

Hi, Could you please some question about ros navigation. I have a mobile robot without encoder in the wheels. And ı have 2d urg 04lx laser scanner ( ı converted to pointcloud data from laserscan data, I mean ı can obtain distance and angle of the the nearest object) and IMU. I want to do autonomous navigation using IMU and lidar data. How can ı do this? Please help me . If you need, ı can send to you my code document.

@thomasgilmour671 6 років тому

Hi, you should look into something called visual odometry. This visual odometry can be paired with IMU based odometry in a package called robot_localization. This should give you the right data to perform navigation!

@suzangray6483 6 років тому

Are there any relevant code or links to this topic?