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https://github.com/KamalanathanN/abot

ABot is a differential drive mobile robot based on Robot Operating System (ROS). Its tested on Ubuntu 18.04 and 20.04 with ROS melodic and noetic
https://github.com/KamalanathanN/abot

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ABot is a differential drive mobile robot based on Robot Operating System (ROS). Its tested on Ubuntu 18.04 and 20.04 with ROS melodic and noetic

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# ABot



ABot is a differential drive mobile robot based on Robot Operating System (ROS). Its tested on Ubuntu 18.04 with ROS Melodic and Ubuntu 20.04 with ROS Noetic



### Capabilities:



- [x] Manual teleop control.

- [x] SLAM with Gmapping using teleop and explore_lite.

- [x] Goal Point Navigation using dwa_local_planner and teb_local_planner.

- [x] Coverage Planning with Boustrophedon Decomposition.

- [x] Configured Behavior Tree 

- [x] Added Intel Realsense D435

- [x] RTAB-Map

- [ ] Add GPS

- [ ] Add manipulator arm



## Use ABot



To run the ABot simulation in Gazebo, clone the package in your catkin workspace, and use the launch file below.



```bash

    cd ~/catkin_ws/src

    git clone https://github.com/KamalanathanN/abot.git

    cd ~/catkin_ws

    catkin_make

    source devel/setup.bash

```



## Launch ABot in Gazebo



```bash

    roslaunch abot_gazebo robot_house_gazebo.launch

```



## ABot Simulation Model 






## ABot Gmapping using teleop



```bash

    roslaunch abot_slam abot_gmapping.launch

    roslaunch abot_teleop abot_teleop_key.launch

```




## ABot Gmapping with [explore_lite](http://wiki.ros.org/explore_lite)



```

    sudo apt install ros-noetic-explore-lite

```



```bash 

    roslaunch abot_slam abot_gmapping.launch

    roslaunch abot_navigation move_base.launch

    roslaunch explore_lite explore.launch

```




## ABot Navigation in Gazebo and Rviz

By default navigation uses ```dwa_local_planner``` with argument ```TEB:=true``` loads ```teb_local_planner```.



Read if using teb_local_planner




The default teb_local_planner pkg did not show goal reached success.

Due to this multi goal sequence was not possible.

Temporary fix is to remove the installed teb_local_planner and 

clone this modified repo : https://github.com/KamalanathanN/teb_local_planner inside the workspace.



```bash

    roslaunch abot_navigation abot_navigation.launch

```




## ABot Path Coverage implementation with Boustrophedon Decomposition



```bash

    roslaunch abot_path_coverage abot_path_coverage.launch

```




## Abot Behavior Tree Demo



Below is a simple goal points looping behaviour tree with an interrupt action to go to charge port location.



- In future, interrupt action can be used by battery monitoring node to perform auto charge behavior.

- Also planning to include camera feedback actions like object detection for other exiting behaviors :)



### Runtime Behahivor Tree monitoring with Groot



https://user-images.githubusercontent.com/31615486/152803981-b7dd6d3e-62fd-4a26-9e99-6f240f8b9eb8.mp4



Run the below commands in seperate terminals after launching ```robot_house_gazebo.launch``` and ```abot_navigation.launch``` 

```bash

    rosrun groot Groot # select Monitor option and Start



    roslaunch abot_behavior_tree goal_points_looping.launch

```

Notice the STATE of each node in tree gets highlighted with Cyan(IDLE) Yellow(RUNNING) Green(SUCCESS) Red(FAILURE)



### To provide interrput 



```bash

    rostopic pub /interrupt_event std_msgs/String "data: 'Charge_port'"

```



## ABot RTAB-Map

- Install and setup RTAB-Map from this [link](https://github.com/introlab/rtabmap/wiki/Installation)

- Clone the realsense gazebo plugin to your workspace's ```/src``` and ```catkin_make```

 

```bash

    git clone https://github.com/pal-robotics/realsense_gazebo_plugin 

 ``` 

Run the below commands in seperate terminals after launching ```robot_house_gazebo.launch```

### Mapping

```bash

    roslaunch abot_rtabmap rtab_minimal.launch args:="--delete_db_on_start"

```

- Make sure to give proper save path for ```rtabmap.db``` inside launch file.

- Make sure your world is not monotonous, have good textural variances in walls and have variety of objects.

- Use ```teleop_twist_keyboard``` or ```explore_lite``` for map creation.

- To save the map just close the terminal running the mapping node : ```ctrl+c``` 






### Navigation

First load the ```rtabmap.db``` in localization mode:

```bash

    roslaunch abot_rtabmap rtab_minimal.launch localization:=true

```

Now launch the navigation with desired local planner:

```bash

    roslaunch abot_navigation abot_navigation_rtabmap.launch TEB:=true

```






## References



[path_coverage_ros](https://gitlab.com/Humpelstilzchen/path_coverage_ros/)



[Groot with ROS](https://medium.com/teamarimac/groot-with-ros-a8f7855f8e35)



## Contributions



Your contributions are most welcomed.