This repository contains the codes & drivers used for the autonomous mobile robot project (FYP) to perform autonomous navigation. The conifer-dashboard (web dashboard) is used to display the telemetry and relevant information of the robot via a local web server with NodeJS. (The repo is located over here: https://github.com/1487quantum/conifer-dashboard)

• Ubuntu 14.04 LTS (64-bit)
• ROS Indigo

The following ROS packages are required to be installed system wide:

• Gmapping: ros-indigo-gmapping
• Map server: ros-indigo-map_server
• AMCL: ros-indigo-amcl
• Move base: ros-indigo-move-base
• Camera Info Manager (Py): ros-indigo-camera-info-manage-py

To do so, simply run the following command, replacing package_name with the ones you need.

$ sudo apt-get install ros-indigo-[package_name]

All the packages in this repo should be cloned & place into your workspace.

$ git clone https://github.com/1487quantum/jaguar-bot.git

An overview of the respective packages/directories:

• joy: Joystick driver (Logitech)
• teleop_twist_joy: Process /joy -> /cmd_vel
• diff_drive_controller: Process /cmd_vel -> /joint_trajectory
• kangaroo_driver: Process /joint_trajectory -> /joint_state, controls the motor
• lms1xx_driver: Lidar Driver (LMS111)
• axis_camera: Axis Web camera
• hector_slam: Hector SLAM for mapping
• image_common: For image transport
• robot_pose_ekf: To estimate 3D pose of robot (odom & imu data)
• robot_pose_publisher: To get the current pose of the robot
• mtig_driver: Xsens IMU driver
• ros_bridge_suite: Link ROS data over the web
• twist_mux: A cmd_vel multiplexer with priority
• teb_local_planner: A move_base plugin for path planning
• yocs_velocity_smoother: Reduces sudden jerks and stops while controlling the robot (cmd_vel)

• robot_core: Main control launch/config files to run the robot is here
• robot_odom_subs: Listens to odometry
• pointrecorder: To record waypoints via rosbag
• ptserver: To playback the recorded waypoints

x11vnc could be used to remotely view the computer's GUI.

$ sudo apt-get install x11vnc

To run it, take note of the IP address of the host computer.

$ x11vnc

VNC softwares like VNCViewer for Chrome or TightVNC could be used to view the GUI.

Note: Rviz requires a display to be connected to the computer, so even though VNC is able to display the GUI, Rviz will only WORK with a CONNECTED display. (As for now)

• The joystick is detected by the computer (checked via lsusb) , but why is it not recognised as a port in /dev/input as js0?

  • Most probably the linux kernel was not loaded. You can load the kernel by using the modprobe command:

    $ sudo modprobe xpad
    

    After that, you should be able to find js0 in /dev/input/

• [kangaroo_driver_node] process has died

  • If the following error is seen:

    [ERROR] [1496303682.359675330]: Failed to get the Data.
    *** stack smashing detected ***: ~/catkin_ws/devel/lib/kangaroo_driver/kangaroo_driver_node terminated
    

    It might be due to a wrongly specified USB port. Try changing the port number in the launch file param for the kangaroo node to either /dev/ttyUSB0, /dev/ttyUSB1, etc.

    <param name="port" value="/dev/ttyUSB1" />
    

  • If the IMU is used & the following error occurs, try swapping the USB ports of the IMU and the kangaroo node instead.

• http://nomoreterminals.blogspot.sg/2013/12/how-to-set-up-logitech-f310-on-ubuntu.html