ME5413_Final_Project

ME5413 Final Project from Group 16

Authors: Shen Xiaoting, Zeng Jinling, Lei Haoran, Shang Jiajian

Installation

# Clone your own fork of this repo (assuming home here `~/`)
cd
git clone https://github.com/LiLiLiNaNaNa/ME5413_Final_Project.git
cd ME5413_Final_Project

# Install all dependencies
rosdep install --from-paths src --ignore-src -r -y

# Build
catkin_make
# Source 
source devel/setup.bash

Usage

0. Gazebo World

This command will launch the gazebo with the project world

# Launch Gazebo World together with our robot
roslaunch me5413_world world.launch

1. Mapping

After launching Step 0, in the second terminal:

# Launch Karto Mapping
roslaunch me5413_world mapping_karto.launch

After finishing mapping, run the following command in the thrid terminal to save the map:

# Save the map as `my_map` in the `maps/` folder
roscd me5413_world/maps/
rosrun map_server map_saver -f my_map map:=/map

2. Navigation

Once completed Step 1 mapping and saved your map, quit the mapping process.

Then, in the second terminal:

# Use TEB local path planer and Hybrid A Star global path planer
roslaunch me5413_world teb_hybridastar_nav.launch

or

# Use original navigation algorithm
roslaunch me5413_world navigation.launch

or

# Use TEB with original Dijkstra
roslaunch me5413_world navigation_teb_loc.launch

or

# Use original DWA with Hybrid A Star
roslaunch me5413_world navigation_hybridastar.launch

You can check the introductions to these navigation algorithms and results in our report.

Evaluation

Run the evaluation program in the Analysis folder.