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https://github.com/akerdogmus/hamer

This repository includes the Halikarnas Modular Educational Robot (HAMER) ROS Melodic packages.
https://github.com/akerdogmus/hamer

cmake gazebo hamer-robot python python3 robot robotics robotics-programming ros ros-melodic ros-noetic

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This repository includes the Halikarnas Modular Educational Robot (HAMER) ROS Melodic packages.

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# Halikarnas Modular Education Robot (HAMER) 



![current_version](https://img.shields.io/github/v/release/Akerdogmus/hamer?color=green) ![last_commit](https://img.shields.io/github/last-commit/Akerdogmus/hamer) ![ros_dist](https://img.shields.io/badge/ros--dist-noetic/melodic-blue)  ![](https://img.shields.io/github/repo-size/Akerdogmus/hamer) ![Apache-2.0 License](https://img.shields.io/github/license/inomuh/Camera-Fault-Injection-Tool?color=blue) ![](https://img.shields.io/github/contributors/Akerdogmus/hamer) ![lang](https://img.shields.io/github/languages/top/Akerdogmus/hamer) [![CodeFactor](https://www.codefactor.io/repository/github/akerdogmus/hamer/badge)](https://www.codefactor.io/repository/github/akerdogmus/hamer)



HAMER is a robotic project that is being developed for robotic education. This repository contains ROS Melodic (branch: melodic-devel) and ROS Noetic (branch: noetic-devel) compatible robot packages of HAMER robot.

This metapackage includes the following subpackages.



![Image of HAMER](https://github.com/Akerdogmus/hamer/blob/noetic-devel/hamer.png?raw=true)



- hamer_bringup: It is a subpackage containing hardware control of HAMER robot.

- hamer_description: It is the subpackage containing urdf files of the HAMER robot.

- hamer_navigation: It is the subpackage containing the navigation package files of the HAMER robot.

- hamer_simulation: It is a sub-package containing the package and launch files required for the simulation of the HAMER robot.

- hamer_slam: It is a sub-package containing the package and launch files required for mapping of the HAMER robot.

- hamer_teleop: It is a sub-package containing the codes required to control the HAMER robot from the keyboard in a simulated or hardware environment.



For HAMER_mini model : https://github.com/Akerdogmus/HAMER_mini



HAMER Installation:

-------------------

ROS Melodic version:



```bash

git clone https://github.com/Akerdogmus/hamer -b melodic-devel

```



ROS Noetic version:



```bash

git clone https://github.com/Akerdogmus/hamer -b noetic-devel

```

------------------------------------------------------------------------------

Requirements:

--------------



- In order for the sensors to work properly, "gazebo_ros_pkgs" files must be downloaded to your workspace.



```bash

git clone https://github.com/ros-simulation/gazebo_ros_pkgs.git -b noetic-devel

```



- In order for the SLAM to work, "slam_gmapping" package must be downloaded to your workspace.



```bash    

git clone https://github.com/ros-perception/slam_gmapping.git -b melodic-devel

```



- In order for the "joint_state_publisher" to work, "joint_state_publisher_gui" package must be downloaded to your computer.



```bash

sudo apt update && sudo apt install ros-melodic-joint-state-publisher-gui

```



- In order for the navigation package to work, "follow_waypoint" package must be downloaded to your workspace.

(Waypoints package added and the default goal tolerance increased to 0.3 from 0.0 in phyton script to ease robot's movement.)



```bash

git clone https://github.com/danielsnider/follow_waypoints

```

---------------------------------------------------------------------------------

Some HAMER ROS Commands:

---------------------

Rviz Launching:



```bash

roslaunch hamer_simulation hamer_rviz.launch

```



Solo-Rviz Launching (v1.3 Update):



```bash

roslaunch hamer_simulation hamer_rviz_standalone.launch

```



Gazebo Launching:



```bash

roslaunch hamer_simulation hamer_gazebo.launch

```

or



```bash

roslaunch hamer_simulation hamer_gazebo_emptyworld.launch

```

or



```bash    

roslaunch hamer_simulation hamer_gazebo_maze.launch

```



SLAM Launching:



```bash

roslaunch hamer_slam hamer_slam.launch

```



Teleop Launching:



```bash

rosrun hamer_teleop hamer_teleop.py

```



Navigation Launching (Added v1.1):



```bash

roslaunch hamer_navigation hamer_navigation.launch

```



![Image of HAMER_2](https://github.com/Akerdogmus/hamer/blob/noetic-devel/hamer_2.png?raw=true)

 

NOTE: Before running keyboard code, run on terminal this codes:



```bash        

cd ~/hamer_teleop/scripts && chmod +x hamer_teleop.py

```

---------------------------------------------------------------------------------

Changelog:

----------

Update v1.0 - 02.08.20

------------------------

- First version



Update v1.1 - 21.08.20

------------------------

- Added Gazebo Sonar Plugins (Now Sonar Sensors available)

- Added hamer_navigation subpackage (Now navigation tools and 2d nav goal available)

- Added new Gazebo maps and launch files



Update v1.2 - 08.09.20

----------------------

"hamer_navigation" Package Changes:

- base_local_planner parameters changed.

- costmap_common_parameters new parameters added and existing upgraded.

- Added new parameters for global_costmap and local costmap.

- costmap_converter, teb_local_planner in param folder and cfg folder in navigation package removed.

- navigation launch file: The param teb_local_planner is removed. Instead, TrajectoryPlannerRos used.

- Rviz starting added to launch file.



Update v1.3 - 07.03.21

----------------------

- HAMER is now ROS Noetic compatible.

- "hamer_rviz_standalone.launch" file added (For using HAMER Rviz without Gazebo working)



"hamer_teleop" Package Changes: 

- for teleop operation Launch file added so only launch file is enough to use keyboard.



Update v1.3.1 - 16.03.21

------------------------

- Some bug and file fixes.

---------------------------------------------------------------------------------

Roadmap:

--------

* [x] Hamer Navigation subpackage

* [x] New Gazebo Maps

* [x] Hamer ROS Noetic version

* [ ] Hamer ROS2 version

* [ ] New Hamer robot model

* [ ] All Hamer subpackage rework



Extras:

--------

- If you want to control the robot with the help of an interface, not a terminal, you can install Robotic Controller Interface in your workspace.



```bash

git clone https://github.com/Akerdogmus/Robotic_Controller_Interface 

```



- HAMER Robots YouTube Channel: https://www.youtube.com/channel/UCJIAVXEoZ3Qzcn72Dd_9upg/featured?disable_polymer=1

      

----------------------------------------------------------------------------------



Maintainer

--------------

- Alim Kerem Erdoğmuş - https://www.linkedin.com/in/alim-kerem-erdogmus/



Contributors

------------

- Enes YAZ - Navigation Subpackage Designer - https://www.linkedin.com/in/enes-yaz/

- Harun ÇOŞKUN - HAMER Robot Model Designer - https://www.linkedin.com/in/harun-%C3%A7o%C5%9Fkun-91a579159/

- Berkay YAŞAR -Test Maps Designer - https://www.linkedin.com/in/efecan-berkay-yasar/

- Samet AYDOĞAN - http://www.linkedin.com/in/samet-aydogan

- Muhammed KOCAOĞLU - Navigation Subpackage Designer - https://www.linkedin.com/in/muhammed-kocaoğlu-2b661b178/

- Fatih VATANSEVER - https://www.linkedin.com/in/fatihvatansever/

- Yağız UMUR - https://www.linkedin.com/in/yagizumur/

- Berkay YARIŞ - https://www.linkedin.com/in/berkayyaris/



Supervisor

------------

- Muhammed Oğuz TAŞ - https://www.linkedin.com/in/moguztas/



## License



See the [LICENSE](LICENSE.md) file for license rights and limitations (Apache-2.0 License).