I3E-D3

A project of a openSource robotic plataform, developed by the IEEE RAS CIMATEC Student Chapter.

Install the packages

• First, create a ROS workspace:

$ mkdir -p ~/i3e-d3_ws/src

• Clone this repository inside your /src folder:

$ cd ~/i3e-d3_ws/src
$ git clone [email protected]:rascimatec/i3e-d3.git

• Install all dependencies and build your workspace:

$ cd ~/i3e-d3_ws
$ rosdep install --from-paths src --ignore-src --rosdistro=noetic -y
$ catkin_make

Package contents

• delta_lidar: LIDAR SDK package, cloned from https://github.com/biomchen/3irobotics-delta2a-sdk
• i2c_device_ros: I2C interface for ROS, cloned from https://github.com/Brazilian-Institute-of-Robotics/i2c_device_ros
• mpu6050_driver: Driver for use MPU6050 IMU, cloned from https://github.com/Brazilian-Institute-of-Robotics/mpu6050_driver
• i3e-d3_bringup: Package for starting the I3E-D3 robot
• i3e-d3_control: Control and teleoperation of the robot
• i3e-d3_description: I3E-D3 description, URDF and mesh files
• i3e-d3_gazebo: Gazebo worlds for simulation
• i3e-d3_launchs: A useful package for launch files
• i3e-d3_navigation: SLAM and move_base, used for navigation
• i3e-d3_viz: Package for visualization

Simulation

When open a new terminal:

$ cd ~/i3e-d3_ws
$ source devel/setup.bash

The i3e-d3_launchs package provides some useful launch files for simulation. By default, it will start the Playpen world, but you can change it if you want.

Also, if you want to make your own launch file, you can be based on the 'template.launch'.

Teleoperation

You just teleoperate the robot, using a generical joystick.

$ roslaunch i3e-d3_launchs teleoperation.launch

A gazebo world will open, and you can control the robot on the map, using a generic joystick. Of course, you can change the world if you want, but remember to change the map to be loaded as well, if yout want to view it in Rviz.

Mapping with Teleoperation

The robot will map the environment using teleoperation.

$ roslaunch i3e-d3_launchs mapping_teleop.launch

Rviz will open, and you can see that as you control the robot, the environment will be mapped. When you finish the mapping, run the map_saver in a second terminal, so that you can load this map in the future:

$ rosrun map_server map_saver -f <filename>

Preferably save it in the i3e-d3_navigation package, inside the /map folder.

Mapping with Navigaton

The robot will map the environment using navigation.

$ roslaunch i3e-d3_launchs mapping_nav.launch

It works like the mapping with teleoperation, but instead of use a joystick, you can use the 2D Nav Goal tool of Rviz to set a position and orientation in the world, and the robot will map the environment while navigating.

By default, the SLAM method (for simultaneous mapping and localization) is hector_slam, and the base_local_planner of move_base is teb_planner, but you can change it if you want.

You can run map_saver to save the map:

$ rosrun map_server map_saver -f <filename>

Autonomous Navigation

The robot will navigate through a known map.

$ roslaunch i3e-d3_launchs navigation.launch

You can use the 2D Nav Goal tool of Rviz to navigate the robot, and the 2D Pose Estimate to estimate a pose of the robot in the map (using AMCL node), if necessary.

Autonomous Exploration

The robot will explore the world on its own until the mapping is complete.

$ roslaunch i3e-d3_launchs exploration.launch

It will do the same as the mapping with navigation, but will also run a node that provides a autonomous exploration to the robot, so that it will navigate by itself, until the mapping is complete. Enable the MarkerArray in the Displays panel of Rviz, so that you can see the "edges" of your mapping.

You can run map_saver to save the map:

$ rosrun map_server map_saver -f <filename>