https://github.com/karanchawla/callistorover
Repository for the software for control and autonomous navigation of UGV.
https://github.com/karanchawla/callistorover
autonomous navigation pathfinding ros rover rrt
Last synced: 2 months ago
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Repository for the software for control and autonomous navigation of UGV.
- Host: GitHub
- URL: https://github.com/karanchawla/callistorover
- Owner: karanchawla
- License: mit
- Created: 2017-01-30T15:36:54.000Z (over 8 years ago)
- Default Branch: master
- Last Pushed: 2017-06-22T17:19:58.000Z (almost 8 years ago)
- Last Synced: 2025-03-28T10:47:32.292Z (3 months ago)
- Topics: autonomous, navigation, pathfinding, ros, rover, rrt
- Language: C++
- Homepage: https://karanchawla.com/2017/03/13/sensor-simulation-in-gazebo/
- Size: 932 KB
- Stars: 5
- Watchers: 1
- Forks: 4
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: License.txt
Awesome Lists containing this project
README
# CallistoRover
Repository for the software for control and autonomous navigation of UGV.
Directory Structure:
- CallistoRover
- src
- callisto_control
- config
callisto_control.yaml
- launch
- callisto_control.launch
- CMakeLists.txt
- package.xml
- callisto_description
- launch
- callisto_rviz.launch
- urdf
- macros.xacro
- materials.xacro
- callisto.gazebo
- callisto. xacro
- CMakeLists.txt
- package.xml
- callisto_gazebo
- launch
- callisto_myworld.launch
- worlds
- callisto.world
- CMakeLists.txt
- package.xml
- diffdrive_controller
- src
- diffdrive_controller.py
- CMakeLists.txt
- package.xml
- nav_behaviours
- launch
- nav_behaviours.launch
- src
- nav_timed.py
- CMakeLists.txt
- package.xml
Rover with Lidar and Generic Camera in a Corn Field(Gazebo):
Videos:
To Do:
- [x] Get the connections for Sabertooth working
- [x] Simulate the robot in Gazebo
- [x] Add differential drive controller and, camera sensor.
- [x] Interface mbed with ROS using Serial Comms
- [x] Open Loop Control Node for mbed
- [x] Implement HIL open loop control node
- [x] Use encoder data for PID controller - feedback!
- [x] Trajectory Tracking
- [ ] Add Skid steering Control
Notes:
- 1. If Hokuyo laser shows weird range and behavior, the problem is probably because of the graphic drivers and add this line before launching gazebo simulation - you may add it to your ~/.bashrc file.
```
export LIBGL_ALWAYS_SOFTWARE=1
```
- 2. Converting from ogv to mp4
```
ffmpeg -i out.ogv -c:v libx264 -preset veryslow -crf 22 -c:a libmp3lame -qscale:a 2 -ac 2 -ar 44100 \ navigation.mp4
```
- 3. Blog Post 1
```
https://karanchawla.com/2017/02/24/modeling-a-rover-in-gazebo/
```