autonomous_mobile_robot's Introduction

ME400 Capstone Design

Objective

Overcome the bumps and the slope by tracing black center line in the entrance zone.
Collect the blue balls only without colliding with the obstacles in the ball collecting region.
Dump the collected blue balls in the designated dumping zone where a green ball is located.

Demo Video

How to install our code?

describe how to install dependent packages needed to run your code

 0) extract the zip file

 1) build the workspace

 cd capstone_1_ROS_gazebo && catkin_make

describe how to run the code

 1) launch the map

 roslaunch map_generate import_world.launch

 2 spawn the robot

 roslaunch cheetos_description spawn_cheetos.launch

 3) launch the controller

 roslaunch cheetos_control cheetos_control.launch

 4) run the line tracing node

 rosrun line_tracing line_tracing_node

 5) run the ball detection node

 rosrun ball_detection ball_detect_node

 6) run data integrate node

 rosrun data_integrate data_integration_node

Settings and Description of Topics for evalutation

 1) imu topic : set the topic name as '/imu_test'

 2) actuator state topic : list the actuator state topics as below
 * you do not have to include suspension joints

 example)
 a) '/cheetos/front_left_wheel_velocity_controller/state'
 b) '/cheetos/front_right_wheel_velocity_controller/state'

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