diff_drive_bot

Install diff_drive_robot

Link:

https://github.com/devanshdhrafani/diff_drive_bot

Ubuntu 18.04

Ubuntu 20.04 Install

1. Create a workspace:

http://wiki.ros.org/catkin/Tutorials/create_a_workspace

$ mkdir -p ~/robot_ws/src

$ cd ~/robot_ws/

$ catkin_make

2. Clone project:

$ cd ~/robot_ws/

$ git clone https://github.com/devanshdhrafani/diff_drive_bot.git

$ cd ..

$ catkin_make

Install Required dependencies:

$ sudo apt-get install ros-noetic-dwa-local-planner

$ sudo apt-get install ros-noetic-joy

$ sudo apt install ros-noetic-slam-gmapping

3. Source path and Load the robot in the Gazebo environment. :

bblab7490@bblab7490:~/robot_ws$ source devel/setup.bash

Load the robot in the Gazebo environment. Default model is the turtlebot3_house. You can change this from /worlds/mybot.world. To continue with default model:

$ roslaunch diff_drive_bot gazebo.launch

Get error:

RLException: Invalid <param> tag: Cannot load command parameter [robot_description]: no such command [['/opt/ros/noetic/share/xacro/xacro.py', '/home/bblab7490/robot_ws/src/diff_drive_bot/urdf/mybot.xacro']].

how to Fix:

Edit file : bblab7490@bblab7490:~/robot_ws/src/diff_drive_bot/launch/gazebo.launch

Delele ".py" in 25 <param name="robot_description" command="$(find xacro)/xacro '$(find diff_drive_bot)/urdf/mybot.xacro.py'"/>

Launch robot in gazebo:

$ roslaunch diff_drive_bot gazebo.launch

Install turtlebot3 for model:

https://emanual.robotis.com/docs/en/platform/turtlebot3/simulation/

$ cd ~/catkin_ws/src/

$ git clone -b kinetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

$ cd ~/catkin_ws && catkin_make

Missing package:

sudo apt-get install ros-noetic-turtlebot3-msgs

sudo apt-get install ros-noetic-turtlebot3-teleop

Open model:

$ export TURTLEBOT3_MODEL=waffle_pi

$ roslaunch turtlebot3_gazebo turtlebot3_house.launch

$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

4. Launch the slam_gmapping node. This will also start rviz where you can visualize the map being created:

$ roslaunch diff_drive_bot gmapping.launch

Get error RLException: Invalid <param> tag: Cannot load command parameter [robot_description]: no such command [['/opt/ros/noetic/share/xacro/xacro.py', '/home/bblab7490/robot_ws/src/diff_drive_bot/urdf/mybot.xacro']].

Fix same as step 3.

5. Move the robot around. If you have a Joystick, use:

$ roslaunch diff_drive_bot joy_teleop_launch.launch

OR teleop using keyboard:

$ rosrun diff_drive_bot keyboard_teleop.py

got error: SyntaxError: Missing parentheses in call to 'print'. Did you mean print(msg)

Fix: Edit : bblab7490@bblab7490:~/robot_ws/src/diff_drive_bot/scripts/keyboard_teleop.py

all print change to include (): print msg -> print (msg)

print vels(target_linear_vel,target_angular_vel) -> print (vels(target_linear_vel,target_angular_vel) )

got error: /usr/bin/env: ‘python’: No such file or directory

Fix: sudo apt-get install python-is-python3

6. Autonomous Navigation

Load the robot in gazebo environment:

$ roslaunch diff_drive_bot gazebo.launch

Start the amcl, move_base and rviz nodes:

$ roslaunch diff_drive_bot amcl_move_base.launch

Got error: failed to open image file "/home/ipro/ros_ws/src/diff_drive_bot/maps/test_map.pgm": Couldn't open /home/ipro/ros_ws/src/diff_drive_bot/maps/test_map.pgm

Fix : Edit file : {your directory }/robot_ws/src/diff_drive_bot/maps/ test_map.yaml

change " image: /home/bblab7490/robot_ws/src/diff_drive_bot/maps/test_map.pgm" to your correct path in your computer