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Senseless Robot ROS

Overview

This package provides a state machine for a robot that moves along a path and stop incrementally to wait for measurments from an external source (such as another robot, a motion capture system, or a simulation).

Note: Currently, this package only works for the Turtlebot3 Waffle with no exteroceptive sensors. However, this package is expandable to other Turtlebots and, more generally, other ground robots that use move base to navigate.

Installation

Prerequisites

  1. Install the ROS packages.
sudo apt-get install ros-noetic-robot-localization \
    ros-noetic-octomap-server \
    ros-noetic-smach
  1. Clone the custom Turtlebot3 packages in your catkin workspace.
cd <catkin_ws>/src
git clone https://github.com/troiwill/turtlebot3.git -b senseless-tb3
git clone https://github.com/troiwill/turtlebot3_simulations.git -b senseless-tb3
  1. Clone this repository in your catkin workspace.
cd <catkin_ws>/src
git clone https://github.com/troiwill/senseless-robot-ros.git
  1. Install these Python packages.
python3 -m pip install numpy \
    spatialmath-python
  1. Build your catkin workspace.
cd <catkin_ws>
catkin build
source devel/setup.bash

Quick Start

  1. Open two terminal windows.

  2. In the first window, run the command below. This command will launch Rviz, Gazebo with the turtlebot3_senseless_waffle robot in the turtlebot3 world, and a few ROS nodes.

TURTLEBOT3_MODEL="senseless_waffle" roslaunch senseless_robot_ros turtlebot3_world_tour.launch

After you run this command, wait for ~8 seconds after everything loads.

  1. In the second window, run the command below. This command runs the rendezvous state machine.
roslaunch senseless_robot_ros rendezvous_state_machine.launch