The goal of the project is to get the robot Tiago from the initial point Starting Pose to point Pose B by navigating through the environment that includes two rooms, corridor and obstacles. Once Tiago reaches the Pose B, it must recognize the obstacles, cylindrical in shape, from his surroundings and indicate how many there are and their location in the room. Tiago can reach Pose B in three different ways:
- The first involves using the motion control low that we developed to reach Pose B directly, thus never using the Navigation stack (Mode 1)
- The second involves using a motion control low that we developed to cross the corridor and then using the Navigation stack to reach Pose B (Mode 2)
- The third involves using the control low that is already there by taking advantage of the Navigation stack (Mode 3)
Client terminal
Results terminal + Simulation (Gazeboo) + LaserData (Rviz)
Clone the environment and launch file from this repository
You will need 4 terminal sourced in ~/catkin_ws
For terminal 1-2-3-4 run:
start_tiago source /opt/ros/noetic/setup.bash source /tiago_public_ws/devel/setup.bash
catkin build (one terminal is fine) source ~/catkin_ws/devel/setup.bash
For terminal 1:
roslaunch tiago_iaslab_simulation start_simulation.launch world_name:=robotics_library (wait for the simulation started)
For terminal 2:
roslaunch tiago_iaslab_simulation navigation.launch (wait for prompted 'odom recieved')
For terminal 3:
rosrun Assignment_1_group_12 server
For terminal 4:
rosrun Assignment_1_group_12 client <yaw_angle>
The project was developed with the collaboration of Stefano Trenti and Matteo Villani