https://github.com/aliy98/ros-gmapping-movebase
This ROS package provides three behaviors for controlling a simulated mobile robot using gmapping and movebase rospackages.
https://github.com/aliy98/ros-gmapping-movebase
gmapping movebase ros
Last synced: about 2 months ago
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This ROS package provides three behaviors for controlling a simulated mobile robot using gmapping and movebase rospackages.
- Host: GitHub
- URL: https://github.com/aliy98/ros-gmapping-movebase
- Owner: aliy98
- Created: 2021-12-26T00:46:41.000Z (over 4 years ago)
- Default Branch: master
- Last Pushed: 2022-11-07T09:55:52.000Z (over 3 years ago)
- Last Synced: 2025-10-05T01:40:31.804Z (8 months ago)
- Topics: gmapping, movebase, ros
- Language: Python
- Homepage:
- Size: 3.2 MB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 2
-
Metadata Files:
- Readme: README.md
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README
# ros_gmapping_movebase
This ROS package provides three behaviors for controlling a simulated mobile robot using gmapping and movebase rospackages.
You can get to know more about the detatils of the source code using the [documentation](https://aliy98.github.io/ros-gmapping-movebase/) provided for this rospackage.
## Installing and runnning
Here is the instruction for using the package:
```bashscript
$ mkdir -p catkin_ws/src
```
```bashscript
$ cd catkin_ws/src
```
```bashscript
$ git clone https://github.com/aliy98/ros_gmapping_movebase
```
```bashscript
$ cd ..
```
```bashscript
$ source /opt/ros//setup.bash
```
```bashscript
$ catkin_make
```
```bashscript
$ source devel/setup.bash
```
```bashscript
$ sudo apt install konsole
```
```bashscript
$ roslaunch final_assignment simulation_gmapping.launch
```
in order to run the movebase node, open a new terminal in the same directory and run the following commands:
```bashscript
$ source devel/setup.bash
```
```bashscript
$ roslaunch final_assignment move_base.launch
```
For initializing the master node also, in a new terminal run the following commands:
```bashscript
$ source devel/setup.bash
```
```bashscript
$ roslaunch final_assignment master.launch
```
then you can choose robot's behaviour by inputing the corresponding number
## Software Architecture
Software architecture in this project is based on three nodes:
1. Master Node:
gets user request to choose robot behaviour using robot_state rosparam
2. Movebase Client Node:
gets desired position from user and sends it to movebase node using actionlib and if the goal is not reached before timeout cancels it
3. Teleop Twist Keyboard Node: it can implement two behaviours on robot:
1: moving without obstacle avoidance:
user can move the robot using keys it publishes the desired movements
to cmd_vel topic
2: moveing with obstacle avoidance:
subscribes scan topic and uses it to detect obstacles. user
can move the robot using keys and it also avoids the robot
from colliding the obstacles
## Pseudocode
```
***
master node:
main()
{
set the initial state of robot_state rosparam as 0 (master node)
initialize the master node
while (1)
{
if robot_state is 0 (master node)
{
get user request for selecting the robot behaviour
set robot_state rosparam as the chosen robot behaviour to enable the corresponding node
}
else
{
wait for other nodes' response
}
}
}
***
movebase client node:
main()
{
initialize movebase client node
while(1)
{
get robot_state rosparam to detect user choice
if robot_state is 1 (movebase_client node)
{
get target point from user
call movebase node to send target point as an action
detect if the target has been reached before timeout
}
else
{
wait for master node's response
}
}
}
***
teleop twist keyboard node:
main()
{
initialize teleop twist keyboard node
while(1)
{
get robot_state rosparam to detect user choice
if robot_state is 2 (manual teleop twist keyboard)
{
get user command for moving the robot
publish the corresponding twist to cmd_vel topic
}
else if robot_state is 3 (assisted teleop twist keyboard)
{
subscribe laser scan topic to detect obstacles
get user command for moving the robot
if there is an obstacle
{
don't move the robot toward it
}
else
{
publish the corresponding twist to cmd_vel topic
}
}
else
{
wait for master node's response
}
}
}
```