Cleaning Robot development note

A type of cleaning robot:

• Requirement

Realize the functionality of cleaning room by covering all free spaces and reach the level of cleaning grade of XiaoMi Robot.

• Key instructions

•  Launch simulation packages(catkin_lucifer)
  1. roslaunch ros_navigation_realearth ros_navigation.launch
  2. rosrun fake_localization_odom fake_localization_node
  • Configuration
    • Modify map name and indicate the map file in the folder of 'maps' in the ros_navigation.launch file , while the gridmap.yaml file could be used to modify the map original position and resolution.
      
    • All parameters including costmap and planner .etc could be set in the folder of 'params'.
    • The transforms between gridmap and base can be modified in the file of navigation_tf.launch and the transform between velodyne and gridmap is published in the source file of fake_localization.cpp under the folder of robot_test_tools.
      
• Launch Kobuki turtlebot packages (fjt_catkin_ws)
  1. roslaunch turtlebot_bringup minimal_launch
  2. roslaunch turtlebot_navigation gmapping_demo.launch
  3. rosrun control_tb control_tb
  4. roslaunch turtlebot_rviz_launchers view_navigation.launch ( local pc)
• Remote access to Kobuki
  
  • SSH firefly@192.168.102  (password:firefly)
  • Modify local bashrc to run above instructions
    • vi ~/.bashrc
    • Add codes below on the end of file
    • export TURTLEBOT_BASE=kobuki
      export TURTLEBOT_STACK=hexagons
      export TURTLEBOT_3D_SENSOR=asus_xtion_pro
      export ROS_MASTER_URI=http://192.168.1.102:11311
      export ROS_HOSTNAME=192.168.1.162 #local pc ip
      

• Download and upload file to remote server
  • SCP /home/evan/... firefly@192.168.1.102:/home/firefly/...   (Upload)
  • SCP firefly@192.168.1.102:/home/firefly/... /home/evan/...  (Download)