Navigation in small arena

asked 2019-12-27 10:11:48 -0600

Herobone
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Hey,

Currently I am working on a Robot for the Eurobot-Competition. This Year is the first Year in which we try to use such an advanced system like ROS.

Right now I'm setting up the navigation. I want to use a map that was generated from a 3D File. Our robot uses for movement 2 Encoded Geared DC Motors. I managed to find a Lib that can publish the Odommetry using the encoders. Now I want to move that robot. But it seems to me that no one ever has tried to build a robot that moves on such a tight space as 2 meter by 3 meters. I have an accurate model of how the Arena will look. Our navigation should be based mostly on odometry and a Laser Scanner. We will put Beacons up in the edges of the table. You can find the 3D file of the table here: https://www.eurobot.org/images/2020/E...

So I want to know:

Is it a good idea to use the ros navigation stack?
Is it possible to generate a map for the navigation stack only using the arena model?

Hardware of the Robot: - Intel NUC - Arduinos for controlling the hardware - 2 PSEye Cameras - 2 Encoded DC Motors - RPLidar A1

Code: https://gitlab.com/Herobone/eurobot-2...

At the moment it's not possible for me to simulate the Arena in Gazebo because everytime I start gazebo in the docker container it fails as well as rviz. But that's another problem

I'm currently only a beginner in ROS so I hope you can help me.

Thanks in advance Herobone

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answered 2019-12-27 11:10:43 -0600

Orhan

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Yes it is a good idea.
Yes, it is possible. You can even edit the map file by hand with a program like kolourpaint4 in linux. See this map file, it's actually an image. When you change its yaml file's resolution parameter, you can scale the map.

Here is an explanation of the things in the yaml file: http://wiki.ros.org/map_server#YAML_format

But there are stuff you need to do. For example, I don't suggest editing the image file by hand. Instead, edit gmapping parameters to generate a map like you want. Here's one of the key parameters to change:

~delta (float, default: 0.05)

Resolution of the map (in metres per occupancy grid block)

Which means, every dot in the map image represents a 5 cm x 5 cm long (occupying 25 cm² area) obstacle/wall. You will also need to change other parameters too.

If you can't run a gazebo simulation in docker, (assuming that you have an Ubuntu+ROS installed PC) I'd suggest downloading turtlebot3 packages and following its tutorials in simulation. You'll have the idea of what you need to do.

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