Ruben-RV-ROS01

• Project name: Turtlebot robot indoor navigation

• Dates: July 2013 -

• Degree: Summer Research Residence

• Authors: Ruben

• Contact: runix404@gmail.com

• SVN Repositories:

• Tags: ROS, navigation, turtlebot

• Technologies: kinect, pcl, openni, c++, cmake, ROS

• State: Ongoing

---

ROS Fuerte Installation on Ubuntu 12.04

Repository configuration

First we need to add the repository <syntaxhighlight lang=Bash>sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'</syntaxhighlight>

and setup the keys <syntaxhighlight lang=Bash>wget http://packages.ros.org/ros.key -O - | sudo apt-key add -</syntaxhighlight>

Installation

We need to refresh the cache of your package manager <syntaxhighlight lang=Bash>sudo apt-get update</syntaxhighlight>

In our case, we decide to install ros-fuerte-desktop-full that is recommended in the ROS web, but you can also install other as explained on the web

<syntaxhighlight lang=Bash>sudo apt-get install ros-fuerte-desktop-full</syntaxhighlight>

Enviroment Configuration

Now we need to configure the enviroment variables

<syntaxhighlight lang=Bash>echo "source /opt/ros/fuerte/setup.bash" >> ~/.bashrc </syntaxhighlight>

For refresh the enviroment variables of your terminal you can reset it or type

<syntaxhighlight lang=Bash> . ~/.bashrc </syntaxhighlight>

Turtlebot installation

The turtlebot installation is very simple, you only have to type in your terminal

<syntaxhighlight lang=Bash> sudo apt-get install ros-fuerte-turtlebot* </syntaxhighlight>

Navigation

Feasible Solutions

The feasible solutions are Dynamic Window and Potencial Field :

1.-Dynamic Window : is a velocity-based local planner that calculates the optimal collision-free ('admissible') linear and angular velocity for a robot required to reach its goal

2.-Potential-field : In the pontetial-field navigation each obstacle has an obstacle 'force field' for repelling the robot, and the goal has a attraction fiel

Experiments

In these experiments, the robot will try to reach the position (3,3) from the origin.

1. Simple scenario Simple navigation

2. A wall scenario Navigation with obstacle

3. A realistic scenario

Path Planning

Voronoi

ongoing

Graph SLAM

ongoing