https://github.com/simone-contorno/rt-assignment-2

Research Track 1 - Second assignment - Control of a robot in a simulated environment
https://github.com/simone-contorno/rt-assignment-2

cpp engineering robot robotics ros

Last synced: about 2 months ago
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Research Track 1 - Second assignment - Control of a robot in a simulated environment

• Host: GitHub
• URL: https://github.com/simone-contorno/rt-assignment-2
• Owner: simone-contorno
• Created: 2021-11-25T15:02:03.000Z (over 4 years ago)
• Default Branch: main
• Last Pushed: 2022-04-04T08:42:08.000Z (about 4 years ago)
• Last Synced: 2025-10-31T00:47:55.226Z (8 months ago)
• Topics: cpp, engineering, robot, robotics, ros
• Language: CMake
• Homepage: https://github.com/simone-contorno/RT-Assignment-2
• Size: 118 KB
• Stars: 1
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

          
# Second Assignment of Research Track 1 - Robotics Engineering

## Author: Simone Contorno




Control of a robot in a simulated environment.

### Introduction

An overview of this program function.


[Go to Introduction](#intro)

### How it works

A rapid description of how the program works (pseudo-code).


[Go to How it works](#how)

### Installation and Execution

How install and run this program in Linux.


[Go to Installation and Execution](#installation)

### Improvements

How this program could be improved.


[Go to Improvements](#improve)



### Introduction

This program manage a robot, endowed with laser scanners, which should move autonomously inside a circuit.


You can use the robot controller to:



    
Increase the linear velocity;

    
Decrease the linear velocity;

    
Stop the robot;

    
Reset the robot to the initial position.



The circuit is this one:

![map](https://github.com/simone-contorno/RT-Assignment-2/blob/main/second_assignment_map.png)



### How it works

There are 3 packages:



    
second_assignment: contains the map of the circuit.

    
second_assignment_node: contains 2 source files .cpp

        


            
robot.cpp: controls the robot to follow the ciruit avoiding the borders; for this task it reads data from laser scanners (base_scan topic),

            compare them (on the left and on the right) when it is too close to an obstacle (in front of its) and choose the direction 

            where there is more space; it also publishes the new linear velocity (managed from the user interface provided by robot_controller node) in the 

            cmd_vel topic.

            
robot_controller.cpp: provides the user interface to digit commands and sends them to the service (server.cpp).

        

    

    
second_assignment_server: contains the source file server.cpp that provides a service that takes in input the requested command from the robot_controller node, and           execute the corrisponding task; Robot.srv is the file used by this service.



Look the pseudocode files into the corresponding directories for more details.




### Installation and Execution

First of all download into your ROS workspace the current repository opening the terminal and typing:

git clone https://github.com/simone-contorno/rt-assignment-2


Move the folders into the src directory of your ROS workspace.
 

After, go into the root folder of your ROS workspace and type: 

catkin_make


Afterwards type:

rospack profile


Now, open 5 terminals; in the first one run ROS core:

roscore


In the second one run the node to visualize the map:

rosrun stage_ros stageros $(rospack find second_assignment)/world/my_world.world


In the third one run the service node:

rosrun second_assignment_server server


In the fourth one run the robot controller node to manage the robot through the user interface:

rosrun second_assignment_node robot_controller


In the last one run the robot node:

rosrun second_assignment_node robot




### Improvements

To improve the robot performance, it could be done an improvement to mantain better the robot in the center of the path.



Thanks to have read this file, i hope it was clear and interesting.