Rover

Idea

A rover capable of performing mapping, localizing, and navigating itself through the map!

This package has been created and tested on Ubuntu 22.04 with ROS2 Humble, Gazebo 11.10.2, Rviz2, and Nav2 stack.

How to build

Creating a workspace to build the package

mkdir -p ~/rover_ws/src && cd ~/rover_ws/src

Cloning the package

git clone https://github.com/kalashjain23/rover
cd ~/rover_ws

Installing the dependencies and building the workspace

rosdep install --from-paths src -y --ignore-src
colcon build

Mapping

First, edit the mapper_params_online_async.yaml file to set the mode to mapping.

    mode: mapping   # Changed from visualization

    map_file_name: test_name    # comment this

    map_start_at_dock: true     # comment this

Now you can start mapping by following these commands

# source the workspace
source ~/rover_ws/install/setup.bash

# Launching Gazebo and controllers
ros2 launch rover launch_sim.launch.py world:=./src/rover/worlds/obstacles.world

# Launch the slam_toolbox
ros2 launch slam_toolbox online_async_launch.py slam_params_file:=./src/rover/config/mapper_params_online_async.yaml use_sim_time:=true

# Run rviz with the saved configuration
rviz2 -d src/rover/config/mapping.rviz 

# Run teleop_twist_keyboard to control the rover
ros2 run teleop_twist_keyboard teleop_twist_keyboard -r /cmd_vel:=/diff_cont/cmd_vel_unstamped

mapping.mp4

Localization

First, edit the mapper_params_online_async.yaml file to set the mode to localization and add the saved map.

    mode: localization  # Changed from mapping

    map_file_name: # path to your saved map

    map_start_at_dock: true

Now you can run the following commands to visualize.

# source the workspace
source ~/rover_ws/install/setup.bash

# Launching Gazebo and controllers
ros2 launch rover launch_sim.launch.py world:=./src/rover/worlds/obstacles.world

# Launch the slam_toolbox
ros2 launch slam_toolbox online_async_launch.py slam_params_file:=./src/rover/config/mapper_params_online_async.yaml use_sim_time:=true

# Run rviz with the saved configuration
rviz2 -d src/rover/config/slamming.rviz 

# Run teleop_twist_keyboard to control the rover
ros2 run teleop_twist_keyboard teleop_twist_keyboard -r /cmd_vel:=/diff_cont/cmd_vel_unstamped

Navigation

Run the following commands to setup your system for navigation

# source the workspace
cd ~/rover_ws && source ~/rover_ws/install/setup.bash

# Launching Gazebo and controllers
ros2 launch rover launch_sim.launch.py world:=./src/rover/worlds/obstacles.world

# Run Rviz2 with the saved configuration
rviz2 -d src/rover/config/navigation.rviz

# Launch the slam_toolbox
ros2 launch slam_toolbox online_async_launch.py slam_params_file:=./src/rover/config/mapper_params_online_async.yaml use_sim_time:=true

# Run twist_mux to publish data on the correct topic
ros2 run twist_mux twist_mux --ros-args --params-file ./src/rover/config/twist_mux.yaml -r cmd_vel_out:=diff_cont/cmd_vel_unstamped

# Launch Nav2 for navigation
ros2 launch nav2_bringup navigation_launch.py use_sim_time:=true

You can now start giving goal poses to the rover through Rviz2.

navigation.mp4