https://github.com/pedrala/walleva
AMR robots linking with ros2, gazebo, and rviz2 to collect trash around a park
https://github.com/pedrala/walleva
amr gazebo multithreading python3 ros2 ros2-humble rviz2 sdf turtlebot3-waffle urdf yolo8
Last synced: about 1 year ago
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AMR robots linking with ros2, gazebo, and rviz2 to collect trash around a park
- Host: GitHub
- URL: https://github.com/pedrala/walleva
- Owner: pedrala
- Created: 2024-12-18T05:19:03.000Z (over 1 year ago)
- Default Branch: main
- Last Pushed: 2025-01-07T18:06:27.000Z (over 1 year ago)
- Last Synced: 2025-02-03T05:41:20.245Z (over 1 year ago)
- Topics: amr, gazebo, multithreading, python3, ros2, ros2-humble, rviz2, sdf, turtlebot3-waffle, urdf, yolo8
- Language: Python
- Homepage:
- Size: 11.2 MB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
Description
===================
Two AMR robots are walking around the park. WALL-E walks first and recognizes trash objects with YOLO8. WALL-E picks it up with its manipulator and puts it in the basket of EVE robot following behind. EVE robot is made by modifying URDF of Turtlebot3 base model by removing the manipulator and adding a basket at the back.
Capture
============
## GUI
## Modified and applied URDF to remove the manipulator and place a basket at the back to collect waste.
## Running on Gazebo, Rviz
How to execute
====================
## multitb_ws
2 or more AMR spawns, URDF, SDF files modified for special purposes, world file (map) applied
```console
ros2 launch turtlebot3_walleva gazebo_multi_custom.launch.py
or ros2 launch turtlebot3_walleva gazebo_walleva.launch.py
```
## amr_ws
WALL-E goes around looking for trash, and Eve follows him. They go around the park in an endless loop.
```console
ros2 run move_to_goal move_to_goal
```
## b3_ws
Running a GUI server, showing the positions of two AMRs on the minimap and displaying the camera view.
```console
ros2 run dual_bot gui_server
```
Reference
============
To spawn two or more AMR bots in rviz and gazebo, I have referenced the repositories below.
```console
https://github.com/arshadlab/turtlebot3_multi_robot/
```