CallistoRover

Repository for the software for control and autonomous navigation of UGV. Directory Structure:

• CallistoRover
  • src
    • callisto_control
      • config callisto_control.yaml
      • launch
        • callisto_control.launch
      • CMakeLists.txt
      • package.xml
    • callisto_description
      • launch
        • callisto_rviz.launch
      • urdf
        • macros.xacro
        • materials.xacro
        • callisto.gazebo
        • callisto. xacro
      • CMakeLists.txt
      • package.xml
    • callisto_gazebo
      • launch
        • callisto_myworld.launch
      • worlds
        • callisto.world
      • CMakeLists.txt
      • package.xml
    • diffdrive_controller
      • src
        • diffdrive_controller.py
      • CMakeLists.txt
      • package.xml
    • nav_behaviours
      • launch
        • nav_behaviours.launch
      • src
        • nav_timed.py
      • CMakeLists.txt
      • package.xml

Rover with Lidar and Generic Camera in a Corn Field(Gazebo):

Videos:

To Do:

• Get the connections for Sabertooth working
• Simulate the robot in Gazebo
• Add differential drive controller and, camera sensor.
• Interface mbed with ROS using Serial Comms
• Open Loop Control Node for mbed
• Implement HIL open loop control node
• Use encoder data for PID controller - feedback!
• Trajectory Tracking
• Add Skid steering Control

Notes:

• 1. If Hokuyo laser shows weird range and behavior, the problem is probably because of the graphic drivers and add this line before launching gazebo simulation - you may add it to your ~/.bashrc file.

export LIBGL_ALWAYS_SOFTWARE=1

• 2. Converting from ogv to mp4

ffmpeg -i out.ogv        -c:v libx264 -preset veryslow -crf 22        -c:a libmp3lame -qscale:a 2 -ac 2 -ar 44100 \ navigation.mp4

• 3. Blog Post 1

https://karanchawla.com/2017/02/24/modeling-a-rover-in-gazebo/