This package is for running mobile robot under tunnel environment.

• 45-degree tilted 2D Lidar: for aisle-follow driving
• 3D LiDAR on mobile robot: for detecting obstacles, mapping, localization

• Aisle detect Node

  • Subscribe
    • /rp/scan (sensor_msgs/LaserScan)
  • Publish:
    • /cluster_line (sensor_msgs/PointCloud2): detected aisle
    • /aisle_points (sensor_msgs/PointCloud2): robot's direction on line, line center, line start, line end
  • Parameters
    • line_thresh (defalt 0.5): Ransac threshold of line model
    • aisle_width (defatl 0.6): Horizontal width to be cropped from lidar scan

• Obstacles Node

  • Subscribe
    • /velodyne_points (sensor_msgs/PointCloud2)
  • Publish:
    • /cropped_obs (sensor_msgs/PointCloud2): detected obstacles within the aisle zone
    • /obs_dists (std_msgs/Float32MultiArray): Right and Left obstacles's distances
  • Parameters
    • obs_x_min / obs_x_max (default 0.0 / 1.0): x range of obstacle detect region (m)
    • obs_y_min / obs_y_max (default -0.3 / 0.3): y range of obstacle detect region (m)
    • obs_z_min / obs_z_max (default -0.1 / 0.5): z range of obstacle detect region (m)

• Localization Node

  • Subscribe
    • /amcl_pose (geometry_msgs/PoseWithCovarianceStamped): amcl_pose topic can be published by running amcl package simultaneously.
    • /move_base_simple/goal (geometry_msgs/PoseStamped): The target position can be set with 2D Nav Goal of Rviz.
  • Publish:
    • /localization_data (std_msgs/Float32MultiArray): [0]-global dist error, [1]-global angle error, [2]-arrival flag, [3]-rotating flag
  • Parameters
    • global_dist_boundary (default 0.3): Global distance boundary error to arrival (m)
    • global_ang_boundary (default 0.05): Global angular boundary error to arrival (rad)

• Cmd Puslish Node

  • Subscribe (data from other nodes)
    • /joystick (sensor_msgs::Joy): amcl_pose topic can be published by running amcl package simultaneously.
    • /obs_dists (std_msgs/Float32MultiArray)
    • /aisle_points (sensor_msgs/PointCloud2)
    • /localization_data (std_msgs/Float32MultiArray)
    • /lidar_driving (std_msgs/Bool) : Should be puslished manually to execute the /cmd_vel publishing function.
  • Publish:
    • /cmd_vel (geometry_msgs/Twist): Final cmd_vel combining information from multiple nodes
  • Parameters
    • Kpy_param (default 1.1): Rotation control gain for aisle driving
    • Kpy_param_rot (default 0.01): Rotation control gain for static rotation
    • linear_vel (default 0.0): Linear velocity of mobile robot (m/s)
    • robot_width (default 0.45): Robot width (m)
    • obs_coefficient (default 0.5): Obstacle avoidance control ratio
    • front_obs(default 0.6): Distance of front obstacles to be avoided
    • boundary_percent (default 0.02): Percentage of free width on both sides of the aisle for safe driving
    • spare_length (default 1.5): Additional driving after avoiding obstacles
    • amcl_driving (default false): Whether to check the location of mobile robot
    • check_obstacles (default false): Whether to check for obstacles

• slam-gmapping
• amcl

sudo apt-get install ros-melodic-slam-gmapping
sudo apt-get install ros-melodic-amcl

• only_driving.launch : driving using scan data with no mapping and localization
• mapping.launch : Generates map with autonomous driving (gmapping ros package is included)
• amcl_driving.launch : Round trip driving with localization (amcl ros package is included)
• simulation.launch : run with bag file

• Overall parameter

  • update_min_d: 파티클을 업데이트 하기위해 필요한 translation movement (작을 수록 포즈 계산을 자주 한다)
  • update_min_a: 티클을 업데이트 하기위해 필요한 rotational movement
  • min_particles / max_particles: 많을 수록 신뢰도가 높아지지만 계산 처리가 늦어질 수 있음

• Odometry model parameter

  *노이즈를 키울 수록 파티클 샘플링을 넓은 영역에서 한다

  • odom_alpha1: rotation에 대한 rotation 노이즈 (로봇이 회전을 했을 때 생기는 rotation 노이즈)
  • odom_alpha2: tranlation에 대한 rotation 노이즈 (로봇이 회전을 했을 때 생기는 translation 노이즈)
  • odom_alpha3: translation에 대한 translation 노이즈
  • odom_alpha4: rotation에 대한 rotation 노이즈

Running

roslaunch leo_driving only_driving.launch
roslaunch leo_driving mapping.launch
roslaunch leo_driving amcl_driving.launch
roslaunch leo_driving simulation.launch