roomba-navigation

Set up

To set up this repository, you need linux environemnt and ros-noetic. You can proceed installation on by following the link: http://wiki.ros.org/noetic/Installation

Secondly, you need to create a workspace for catkin by following the command in the home directory (the directory you are in when you open the terminal)

$ source /opt/ros/noetic/setup.bash
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/
$ catkin_make
$ source devel/setup.bash

To automatically source scripts, insert the following commands in the home directory.

$ echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
$ source ~/.bashrc
$ cd ~/catkin_ws
$ echo "source devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

Close the terminal and open a new one. The scripts should now be automatically sourced.

The source of this instructions are in this link: http://wiki.ros.org/catkin/Tutorials/create_a_workspace

Thirdly, clone the repository. After cloning the repository, copy create_control, create_description, and create_gazebo file in roomba-navigation/catkin_ws/src/ directory and paste it on your catkin-ws/src directory (the directory you made on second step).

Impement the project

To implement the project, follow the following 3 steps on different terminal windows.

1. Lauch roscore

Launch roscore by using following command:

$ roscore

2. Launch Gazebo

Proceed the following commands in your home directory (the directory you are in when you open the terminal).

$ cd catkin_ws/src
$ roslaunch create_gazebo create_gazebo.launch

3. Launch UWB Simulation and Chan Ho and Harbi Localization Simulation

Proceed the following commands in your home directory (the directory you are in when you open the terminal).

$ cd catkin_ws/src
$ roslaunch advoard_localization chan_ho_harbi.launch

4. Launch Roomba's Control Code

$ cd catkin_ws/src
$ roslaunch create_control create_control.launch

STL files

STL files on the root folder is consisted of 3D-CAD floor plan of one of the building in Georgia Tech, Klaus building.

153-1 revised.stl: 3D-CAD floor plan for the first floor.

153-2.stl: 3D-CAD floor plan for the second floor.

153-3.stl: 3D-CAD floor plan for the third floor.