Turtlebot3 Stair Detection Layer

A custom costmap layer for ROS that simulates stair detection for Turtlebot3. This package adds a costmap layer that creates obstacles in front of the robot based on sensor input.

Features

• Custom costmap layer that integrates with Turtlebot3's navigation stack
• Creates obstacle markings in front of the robot when stairs are detected
• Maintains obstacle positions until navigation goal is completed or aborted
• Includes a mock sensor node for testing purposes

Prerequisites

• ROS Noetic
• Turtlebot3 packages
• Ubuntu 20.04

# Install Turtlebot3 packages
sudo apt-get install ros-noetic-turtlebot3
sudo apt-get install ros-noetic-turtlebot3-simulations

Installation

1. Clone this repository into your catkin workspace:

cd ~/catkin_ws/src
git clone https://github.com/AlpMercan/stair_costmap.git
git clone https://github.com/ros-planning/navigation.git
add the navigations position of ros planing to your stari_costmaps cmakelist

2. Build the package:

cd ~/catkin_ws
catkin_make

3. Source your workspace:

source ~/catkin_ws/devel/setup.bash

Usage

1. Launch Turtlebot3 simulation:

roslaunch turtlebot3_gazebo turtlebot3_house.launch

2. Launch navigation stack:

roslaunch turtlebot3_navigation turtlebot3_navigation.launch

3. Run the mock sensor node for testing:

rosrun stair mock_sensor.py

Testing

The mock sensor node publishes a sequence of values [10, 10, 10, 60, 10, 10, 10] to simulate stair detection:

• Values below threshold (50.0): Safe to navigate
• Values above threshold (50.0): Stairs detected

Parameters

The costmap layer can be configured with the following parameters:

• threshold (default: 50.0): Detection threshold
• costmap_value (default: 254): Cost value for detected obstacles
• region_size (default: 0.3m): Size of the marked region
• forward_distance (default: 0.5m): Distance in front of robot to mark obstacles

Node Information

Published Topics

• None directly (modifies costmap)

Subscribed Topics

• /stair_detection (std_msgs/Float32): Sensor input Its mocked for this case
• /move_base/status (actionlib_msgs/GoalStatusArray): Navigation status

Architecture

The package consists of two main components:

1. StairLayer: Custom costmap layer that integrates with move_base
2. Mock Sensor: Python node that simulates sensor data for testing

Contributing

1. Fork the repository
2. Create your feature branch (git checkout -b feature/AmazingFeature)
3. Commit your changes (git commit -m 'Add some AmazingFeature')
4. Push to the branch (git push origin feature/AmazingFeature)
5. Open a Pull Request

License

Distributed under the MIT License. See LICENSE for more information.

Contact

ALP MERCAN