ROS_Conclusion_Project

Hello and Welcome to our Ros Conclusion Project for the camp.

Description of project:

​We have used Tiago ROS robot for our project. Tiago robot is a mobile manipulator which has well structured implementation of SLAM , Gmapping etc.
We used in-built packages for SLAM and 2D-navigation,integrated it with Open-CV and made Tiago autonomous.
The Gazebo simulation world contains 4 coloured boxes ,Tiago detects the colour and position of the boxes using an overhead camera and then autonomously navigates towards them one by one, in the order of red,blue,green,yellow colors.

Installation:

• Firstly install ROS-Melodic, you can follow the instructions from the official website.
  Caveat-Tiago does not support ROS-Noetic.

• For installing Tiago ROS robot follow below procedure

First of all open a terminal and create an empty workspace:

mkdir ~/tiago_public_ws
cd ~/tiago_public_ws

Download the file tiago_public.rosinstall given in this repo. Copy the rosinstall file in ~/tiago_public_ws. Then run the following instruction in order to clone all the required repositories within the workspace:

cd ~/tiago_public_ws
rosinstall src /opt/ros/melodic tiago_public.rosinstall

Set up rosdep

sudo rosdep init
rosdep update

Then you may run the following instruction to make sure that all dependencies referenced in the workspace are installed

rosdep install --from-paths src --ignore-src -y --rosdistro melodic --skip-keys="opencv2 opencv2-nonfree pal_laser_filters speed_limit_node sensor_to_cloud hokuyo_node libdw-dev python-graphitesend-pip python-statsd pal_filters pal_vo_server pal_usb_utils pal_pcl pal_pcl_points_throttle_and_filter pal_karto pal_local_joint_control camera_calibration_files pal_startup_msgs pal-orbbec-openni2 dummy_actuators_manager pal_local_planner gravity_compensation_controller current_limit_controller dynamic_footprint dynamixel_cpp tf_lookup opencv3 joint_impedance_trajectory_controller"

Now download the zipped src folder from here, extract it and replace the src folder inside the tiago_public_ws folder with this one.

Now we have to give our script executable permissions. Do the following-

cd ~/tiago_public_ws
chmod +x src/pal_navigation_cfg_public/pal_navigation_cfg_tiago/scripts/mypoint.py

Then, you may proceed with building the workspace:

cd ~/tiago_public_ws
source /opt/ros/melodic/setup.bash
catkin build -DCATKIN_ENABLE_TESTING=0

Once you have compiled all the packages and sourced the workspace (source devel/setup.bash) .

To Run Simulation:

cd ~/tiago_public_ws
source devel/setup.bash

roslaunch tiago_2dnav_gazebo tiago_navigation.launch public_sim:=true lost:=true

Rviz and Gazebo opens up and you can see Tiago spawned onto the world.Now wait for Tiago to complete its "tuck-arm" process which usually takes a while to complete.
Once its finished there will be message on the terminal "tuck-arm process completed".

rosrun pal_navigation_cfg_tiago mypoint.py    #in another terminal

As you can see Tiago starts turning towards the red box and then starts moving towards it.
The script terminates after Tiago has visited all the boxes.

Here's a truncated video clip of the simulation running as the simulation is running extremely slow at a real-time factor of 0.13.

Truncated video clip:-

Demonstration.mp4

References:

Tiago

Team Members:

We are a team of three members-

Sandeepan Ghosh
Srini Rohan
Vaibhav Tripathi