ROBOTICS EVALUATION TOOLKITS

A simulation of basic robot localization (SLAM) and navigation in warehouse environment

Author: Wang Han, Nanyang Technological University, Singapore

1. Evaluation

1.1. Simulation Description

This package provides a simulation environment of warehouse. A robot is simulated at the center of the environment, with 2D laser scanner provided.

1.2. robot tutorial

The localization and navigation unit is also provided for evaluation. This inlcudes basic 2D slam and robot navigation algorithm.

1.3. 3D mapping

The robot model is equipped with 3D Lidar as an alternative and simulation of 3D mapping is available

2. Prerequisites

2.1 Ubuntu and ROS

Ubuntu 64-bit 20.04.

ROS Noetic. ROS Installation

2.2. ROS Package

sudo apt-get install ros-noetic-hector-trajectory-server ros-noetic-slam-gmapping ros-noetic-navigation

3. Build

3.1 Clone repository:

    cd ~/catkin_ws/src
    git clone https://github.com/wh200720041/warehouse_simulation_toolkit.git
    cd ..
    catkin_make
    source ~/catkin_ws/devel/setup.bash

3.2 Launch ROS

    roslaunch warehouse_simulation warehouse_simulation.launch

Note that it takes a few minutes to load model upon first launch

3.3 Robot Control

You can use keyboard (arrow keys) to manually control the robot (select cmd window first)

3.4 Autonomous Navigation

You may set target points in RVIZ and the robot will navigate to the location in gazebo.

1. click 2d nav goal button on rviz
2. click any points you want on the map

4.Acknowledgements

Thanks for the great work from GEAR.