README.md

INSTALLATION

This small tutorial is prepared for ubuntu 20.04 and ros noetic, but should work for other versions (replacing all ros-noetic... installs by your ros version)

Stonefish installation

The stonefish library repository can be found here: https://github.com/patrykcieslak/stonefish Installation instructions for stonefish can be resumed into:

 sudo apt install libglm-dev libsdl2-dev libfreetype6-dev #dependencies
 cd (your prefered folder for the repository to download, preferrable not inside your catkin workspace)
 git clone https://github.com/patrykcieslak/stonefish.git # clone repository
 cd stonefish
 mkdir build
 cd build
 cmake ..
 make # or make -j(any number of threads)
 sudo make install

ROS Dependencies

Now its time to install all ROS related packages so you can run the turtlebot simulation. Go inside your catkin workspace src folder and clone the following repositories

Stonefish ros is a stonefish simulator with ROS support, the one the turtlebot simulator will depend on.

git clone https://github.com/patrykcieslak/stonefish_ros.git

Description packages basically have the 3D models and urdf files that describe the components necessary for the turtlebot:

git clone https://bitbucket.com/udg_cirs/kobuki_description.git # Mobile base
git clone https://bitbucket.com/udg_cirs/swiftpro_description.git # Manipulator
git clone https://bitbucket.com/udg_cirs/turtlebot_description.git # Mobile base + manipulator (whole robot)
sudo apt install ros-noetic-realsense2-description # (Realsense camera)

Turtlebot simulation has the launch files and configurations to launch the turtlebot simulation using stonefish

git clone https://bitbucket.org/udg_cirs/turtlebot_simulation.git

Extra dependencies: Before compiling, install ros_control and ros_controllers packages, necessary for controlling the mobile base and the manipulator:

sudo apt install ros-noetic-ros-control ros-noetic-ros-controllers

Build: Now you can build your catkin workspace using either catkin_make or catkin build.

Note: Make sure to source your workspace /devel/setup.bash after installation. If it still does not find the packages (bug using catkin_make) just do "rospack list" and everything should be updated.

RUNNING

Launch fies

You will find several launch files that you can run. For running simulation with stonefish (Closed map with Aruco markers): r oslaunch turtlebot_simulation turtlebot_hoi_circuit1_simulation.py

For running simulation with stonefish (Closed map without Aruco markers) roslaunch turtlebot_simulation turtlebot_hoi_circuit1.launch

For running simulation with stonefish (Open map without Aruco markers) roslaunch turtlebot_simulation turtlebot_hoi_circuit2.launch

For running simulation with stonefish (Open map with Aruco markers) roslaunch turtlebot_simulation turtlebot_hoi_circuit2_aruco.launch

For running Rviz with the real robot roslaunch turtlebot_simulation turtlebot_hoi_circuit_reality.launch

SLAM

for running SLAM with camera calibration on the real robot rosrun turtlebot_simulation imu_po_camera_slam_reality.py

for running SLAM without camera calibration on the real robot rosrun turtlebot_simulation imu_no_camera_slam_reality.py

for running SLAM with camera calibration in simulation rosrun turtlebot_simulation imu_po_camera_slam_simulation.py

for running SLAM without camera calibration in simulation rosrun turtlebot_simulation imu_no_camera_slam_simulation.py

Camera node

To run the camera node in the simulation rosrun turtlebot_simulation hol_image_sub_simulation.py

To run the camera node in the reality rosrun turtlebot_simulation hol_image_sub_reality.py

path planning node

To run Dubins path in simulation rosrun turtlebot_simulation turtlebot_online_path_planning_node_Dubins_simulation.py

To run DWA path in simulation rosrun turtlebot_simulation turtlebot_online_path_planning_node_DWA_simulation.py

To run Dubins path in reality rosrun turtlebot_simulation turtlebot_online_path_planning_node_Dubins.py

To run DWA path in reality rosrun turtlebot_simulation turtlebot_online_path_planning_node_DWA.py

exploration node

to run exploration in simulation rosrun turtlebot_simulation exploration_simulation.py

to run exploration in reality rosrun turtlebot_simulation exploration.py

Troubleshooting

We have experienced some students not having xacro installed, though it should be installed with the desktop-full installation of ros. To install xacro just:

sudo apt install ros-noetic-xacro