Merge pull request #2 from RajPShinde/navigation_devel

Autonomous Navigation

.travis.yml

@@ -6,7 +6,7 @@ language: generic
 # Configuration variables. All variables are global
 env:
   global:
-    - ROS_DISTRO=melodic
+    - ROS_DISTRO=kinetic
     - ROS_CI_DESKTOP="`lsb_release -cs`"  # e.g. [precise|trusty|...]
     - CI_SOURCE_PATH=$(pwd)
     - ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall

CMakeLists.txt

@@ -1,14 +1,67 @@
-cmake_minimum_required(VERSION 2.8.3)
-
+cmake_minimum_required(VERSION 3.2.1)
 project(autonomous_wheelchair)
 
-find_package(catkin REQUIRED)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+set(CMAKE_CXX_STANDARD 14)
+
+find_package(catkin REQUIRED COMPONENTS 
+  nav_core 
+  move_base_msgs
+  base_local_planner
+  roscpp
+  std_msgs
+  tf
+  rostest
+  roscpp
+  rospy
+  message_generation)
 
-catkin_package()
+catkin_package(
+  INCLUDE_DIRS include
+   CATKIN_DEPENDS nav_core roscpp std_msgs
+)
 
 find_package(roslaunch)
 
 foreach(dir config launch meshes urdf)
 	install(DIRECTORY ${dir}/
 		DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
 endforeach(dir)
+
+
+###########
+## Test ##
+###########
+
+if(CATKIN_ENABLE_TESTING)
+  find_package(rostest REQUIRED)
+  ##find_package(gtest)
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g -O0 --coverage")
+
+  catkin_add_gtest(testGrid test/testGridSquare.cpp src/gridSquare.cpp)
+  target_link_libraries(testGrid ${catkin_LIBRARIES})
+  add_dependencies(testGrid ${catkin_EXPORTED_TARGETS})
+
+  add_rostest_gtest(testPlanner launch/test/testPathPlanner.launch test/main.cpp test/testPathPlanner.cpp src/gridSquare.cpp src/pathPlanner.cpp)
+  target_link_libraries(testPlanner ${catkin_LIBRARIES})
+  add_dependencies(testPlanner pathPlanner ${catkin_EXPORTED_TARGETS})
+
+  add_rostest_gtest(testNavigator launch/test/testNavigator.launch test/testNavigateRobot.cpp src/navigateRobot.cpp)
+  target_link_libraries(testNavigator ${catkin_LIBRARIES})
+  add_dependencies(testNavigator navigate ${catkin_EXPORTED_TARGETS})
+endif()
+
+###########
+## Build ##
+###########
+
+include_directories(include ${catkin_INCLUDE_DIRS})
+
+add_library(pathPlanner src/gridSquare.cpp src/pathPlanner.cpp)
+target_link_libraries(pathPlanner ${catkin_LIBRARIES})
+
+add_executable(goal src/goal.cpp)
+target_link_libraries(goal ${catkin_LIBRARIES})
+
+add_executable(navigate src/main.cpp src/navigateRobot.cpp)
+target_link_libraries(navigate ${catkin_LIBRARIES})

README.md

@@ -3,33 +3,34 @@
 [![Build Status](https://travis-ci.org/RajPShinde/Autonomous_Wheelchair.svg?branch=master)](https://travis-ci.org/RajPShinde/Autonomous_Wheelchair)
 [![Coverage Status](https://coveralls.io/repos/github/RajPShinde/Autonomous_Wheelchair/badge.svg?branch=master&service=github)](https://coveralls.io/github/RajPShinde/Autonomous_Wheelchair?branch=master&service=github)
 [![License BSD 3-Clause](https://img.shields.io/badge/License-BSD%203--Clause-blue.svg)](https://github.com/RajPShinde/Autonomous_Wheelchair/blob/master/LICENSE)
-[![Documentation](https://img.shields.io/badge/docs-unknown-lightgrey)](https://github.com/RajPShinde/Autonomous_Wheelchair/docs)
+[![Documentation](https://img.shields.io/badge/docs-generated-brightgreen.svg)](https://github.com/RajPShinde/Autonomous_Wheelchair/doxygen)
 ---
 
 ## Authors
-
-* **Raj Prakash Shinde** [GitHub](https://github.com/RajPShinde)
-<br>I am a Masters in Robotics Engineering student at the University of Maryland, College Park. My primary area of interest are Legged Robotics and Automation. 
-* **Shubham Sonawane** [GitHub](https://github.com/shubham1925)
-<br>I am a Master's in Robotics Engineering student at the University of Maryland, College Park.
-* **Prasheel Renkuntla** [GitHub](https://github.com/Prasheel24)
-<br>I am a Master's in Robotics Engineering student at the University of Maryland, College Park. My primary area of interest is in Vision integrated Robot Systems.
-
-## Overview
-A ROS Stack to make a Wheelchair Navigate Wheelchair Autonomously in an indoor Environment.
+* **Raj Prakash Shinde** [Porfolio](https://rajpshinde.github.io/) 
+* **Shubham Sonawane** [Porfolio](https://shubhamsonawane.wixsite.com/portfolio)
+* **Prasheel Renkuntla** [Porfolio](https://prasheel24.github.io/)
 
 ## Description
+A ROS Package to make a Differential-Drive Wheelchair Navigate Autonomously in an indoor Environment using onboard LiDAR and Sonar Sensors. The Wheelchair provides manual control to user through a joystick, in case the wheelchair deviates from its path. 
+<p align="center">
+<img src="data/simulation.gif"/>
+</p>
+<p align="center">
+<img src="data/wheelchair.gif"/>
+</p>
+
+## Dependencies
+1. Ubuntu 16.04 or >
+2. ROS Kinetic or >
+3. Navigation Stack
 
 ## Sprint Planning and Discussion
 Sprint Discussion's - [Link](https://docs.google.com/document/d/1YxuiONLKsmspN5a6GJSREl9pPx3vZLULn2Mh-LnGHLA/edit?usp=sharing)
 
 ## Agile Iterative Process Log
 Access Product Backlog, Worklog & Iteration Log here- [Link](https://docs.google.com/spreadsheets/d/16jTj_WTD0Le5l6ijkAiI3PhKVDuv9GQzufeO_Imgy9o/edit?usp=sharing)
 
-## Dependencies
-1. Ubuntu 16.04
-2. C++ 11/14/17
-
 ## Build
 Steps to build
 ```
@@ -42,6 +43,31 @@ git clone https://github.com/RajPShinde/Autonomous_Wheelchair
 cd ~/catkin_ws/
 catkin_make
 ```
+To build tests
+```
+catkin_make tests
+```
+## Run
+Mapping
+```
+source devel/setup.bash
+roslaunch autonomous_wheelchair simulationMapping.launch
+```
+Navigation
+```
+source devel/setup.bash
+roslaunch autonomous_wheelchair simulationNavigation.launch
+```
+Tests
+```
+source devel/setup.bash
+catkin_make run_tests
+```
+## TODO
+REplace with TEB Motion Planner
+
+## Bugs
+None
 
 ## Disclaimer
 ```

config/astar_plugin.xml

@@ -0,0 +1,5 @@
+<library path="lib/libpathPlanner">
+ <class name="astar_plugin/AStarPlanner" type="astar_plugin::AStarPlanner" base_class_type="nav_core::BaseGlobalPlanner">
+   <description>A* global planner plugin</description>
+ </class>
+</library>

config/base_local_planner_params.yaml

@@ -0,0 +1,17 @@
+TrajectoryPlannerROS:
+  max_vel_x: 0.5
+  min_vel_x: 0.1
+  max_vel_theta: 2 
+  min_in_place_vel_theta: 1.2 
+  acc_lim_theta: 3 
+  acc_lim_x: 0.75
+  acc_lim_y: 0.75
+  meter_scoring: true
+  holonomic_robot: false
+  recovery_behavior_enabled: true
+  path_distance_scale: 1.0
+  goal_distance_scale: 2.0 
+  yaw_goal_tolerance: 5.0 
+  xy_goal_tolerance: 0.7
+  occdist_scale: 1.0
+  clearing_rotation_allowed: false

config/costmap_common_params.yaml

@@ -0,0 +1,9 @@
+map_type: costmap
+obstacle_range: 2.0 
+raytrace_range: 2.0 
+footprint: [[0.95, -0.32],[0.95, 0.32], [-0.1, 0.32], [-0.1, -0.32]]
+transform_tolerance: 1 
+inflation_radius: 1.0 
+cost_scaling_factor: 5.0
+observation_sources: laser_scan_sensor
+laser_scan_sensor: {sensor_frame: base_laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true}

config/global_costmap_params.yaml

@@ -0,0 +1,9 @@
+global_costmap:
+  global_frame: map
+  robot_base_frame: base_link
+  update_frequency: 5.0
+  static_map: true
+  rolling_window: false
+  width: 400
+  height: 400
+  resolution: 0.05

config/global_planner_params.yaml

@@ -0,0 +1,19 @@
+GlobalPlanner:                                  # Also see: http://wiki.ros.org/global_planner
+  old_navfn_behavior: false                     # Exactly mirror behavior of navfn, use defaults for other boolean parameters, default false
+  use_quadratic: true                           # Use the quadratic approximation of the potential. Otherwise, use a simpler calculation, default true
+  use_dijkstra: false                            # Use dijkstra's algorithm. Otherwise, A*, default true
+  use_grid_path: false                          # Create a path that follows the grid boundaries. Otherwise, use a gradient descent method, default false
+
+  allow_unknown: true                           # Allow planner to plan through unknown space, default true
+                                                #Needs to have track_unknown_space: true in the obstacle / voxel layer (in costmap_commons_param) to work
+  planner_window_x: 0.0                         # default 0.0
+  planner_window_y: 0.0                         # default 0.0
+  default_tolerance: 0.0                        # If goal in obstacle, plan to the closest point in radius default_tolerance, default 0.0
+
+  publish_scale: 100                            # Scale by which the published potential gets multiplied, default 100
+  planner_costmap_publish_frequency: 0.0        # default 0.0
+
+  lethal_cost: 253                              # default 253
+  neutral_cost: 50                              # default 50
+  cost_factor: 3.0                              # Factor to multiply each cost from costmap by, default 3.0
+  publish_potential: true                       # Publish Potential Costmap (this is not like the navfn pointcloud2 potential), default true

config/local_costmap_params.yaml

@@ -0,0 +1,10 @@
+local_costmap:
+  global_frame: odom
+  robot_base_frame: base_link
+  update_frequency: 5.0 
+  publish_frequency: 2.0 
+  static_map: false
+  rolling_window: true
+  width: 5
+  height: 5
+  resolution: 0.05

config/move_base_params.yaml

@@ -0,0 +1,9 @@
+shutdown_costmaps: false
+controller_frequency: 5.0
+controller_patience: 3.0
+planner_frequency: 1.0
+planner_patience: 5.0
+oscillation_timeout: 30.0
+oscillation_distance: 0.5
+base_local_planner: "dwa_local_planner/DWAPlannerROS"
+base_global_planner: "astar_plugin/AStarPlanner"