zm_robot

The zm robot is a autonomous mobile robot by 4 mecanum wheel driving under Gazebo simulation. It has two 2D-Didar, four ultrasound, RGB-D camera and Imu sensor. The purpose of this project is to make it easy for people to understand the control method of Omnidirectional Wheel and the establishment of mobile robots in the environment of ROS and Gazebo.

Built with

• ROS Melodic Morenia under Ubuntu 18.04 LTS

• ROS Noetic Ninjemys under Ubuntu 20.04 LTS

Getting Started

Installation

• Installation ros package.

  $ sudo apt-get install ros-<distro>-gazebo-ros-pkgs ros-<distro>-gazebo-ros-control ros-<distro>-ros-controllers ros-<distro>-twist-mux

  $ sudo apt-get install -y libgazebo11-dev

  $ sudo apt-get install -y gazebo11

  $ sudo apt-get install -y ros-<distro>-gmapping ros-<distro>-openslam-gmapping ros-<distro>-navigation

  $ sudo apt-get install -y ros-<distro>-amcl ros-<distro>-move-base

  $ sudo apt-get install -y ros-<distro>-people-msgs

• clone gazebo_mecanum_plugins package.

$ git clone https://github.com/qaz9517532846/gazebo_mecanum_plugins.git

• clone ira_laser_tools package.

$ git clone https://github.com/iralabdisco/ira_laser_tools.git

• clone navigation_layers package.

$ git clone https://github.com/DLu/navigation_layers.git

Run

The zm_robot 3d model xaro file into Rviz.

$ roslaunch zm_robot_description zm_robot_demo.launch

• The zm_robot 3d model xaro file into Gazebo.

$ roslaunch zm_robot_gazebo zm_robot_world.launch

• This is a zm_robot control using a keyboard.

$ rosrun zm_robot_teleope_key zm_robot_teleope_key.py

• The zm_robot warehouse environment under Gazebo.

$ roslaunch zm_robot_gazebo zm_robot_warehouse.launch

• The zm_robot create a map at warehouse.

$ roslaunch zm_robot_navigation zm_robot_gmapping.launch

• The zm_robot can do navigation and aviod obstacles at warehouse.

$ roslaunch zm_robot_navigation zm_robot_navigation.launch

• The zm_robot can do navigation and aviod obstacles at warehouse using programing.

$ roslaunch zm_robot_navigation zm_robot_navigation.launch

$ rosrun zm_robot_programing zm_robot_move

The zm_robot_move.cpp example.

#include <zm_robot_programing/zm_robot_move_function.h>

int main(int argc, char** argv) 
{
  ros::init(argc, argv, "zm_robot_move"); 
  ros::NodeHandle n;

  zm_robot my_zm_robot;

  ////// zm_robot programing control start //////

  my_zm_robot.move_map(1.0, 3.0, 1.5708);
  
  my_zm_robot.move_base(1.0, 3.0, 1.5708);

  ////// END //////

  return 0;
}

illustration:

zm_robot topic

History:

Reference:

[1]. turtlebot3_teleop, https://github.com/ROBOTIS-GIT/turtlebot3/tree/master/turtlebot3_teleop

[2]. mecanum_sim, https://github.com/joelillo/mecanum_sim

[3]. Gazebo tutorial - Control plugin. http://gazebosim.org/tutorials?cat=guided_i&tut=guided_i5

[4]. Gazebo tutorial - Sensor plugin. http://gazebosim.org/tutorials?tut=ros_gzplugins&cat=connect_ros

[5]. warehouse_simulation_toolkit. https://github.com/wh200720041/warehouse_simulation_toolkit

[6]. ira_laser_tools. http://wiki.ros.org/ira_laser_tools

[7]. dynamic_reconfigure. http://wiki.ros.org/dynamic_reconfigure/Tutorials

[8]. gazebo_mecanum_plugins. https://github.com/qaz9517532846/gazebo_mecanum_plugins

[9]. rto_core. https://github.com/dietriro/rto_core

[10]. twist_mux. http://wiki.ros.org/twist_mux

[11]. ultrasound gazebo plugin. https://medium.com/teamarimac/integrating-sonar-and-ir-sensor-plugin-to-robot-model-in-gazebo-with-ros-656fd9452607

[12]. navigation_layers. https://github.com/DLu/navigation_layers

License:

This repository is for your reference only. copying, patent application, academic journals are strictly prohibited.

Copyright © 2022 ZM Robotics Software Laboratory.