Ros2 navigation

Short description

This second assignment of the experimental course aims to navigate a mobile robot through a given world using the ros2_navigation package. The world contains four markers, each associated with a waypoint that the robot should visit to successfully detect the corresponding marker.

The waypoints position are:

1. x1 = -6.0, y1= -6.0 due to detection marker error, we changed to $\Longrightarrow$ x1 = -6.8, y1= -8.0
2. x2 = -6.0, y2 = 6.0;
3. x3= 6.0, y3 = -6.0; due to detection marker error, we changed to $\Longrightarrow$ x3 = -6.5, y1= -8.0
4. x4 = 6.0, y4 = 6.0

The assignment is divided into two main parts:

1. Move the robot to each waypoint to detect and store all marker IDs.
2. Starting from the marker with the lowest ID, navigate to the corresponding waypoint, center the marker in the camera view, take a picture, and publish the image with the circled marker on a custom topic. Repeat this process for each remaining marker in order of ascending ID.

The robot's behavior and action sequence are generated using a PDDL model, where PlanSys2 computes the plan and orchestrates the sequence of actions through the ROS 2 nodes created for this assignment.

Simulation recording

Setup

Run these commands from a terminal. They create a workspace, clone this repo and the external repos, copy the needed files into the external packages and update the launch files as requested.

# 1) create workspace
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src

# 2) clone repositories (clone into src so they build together)
# main repo
git clone https://github.com/AlessandroMangili/assignment2_exp.git

# external packages
git clone https://github.com/AlessandroMangili/assignment2_exp_service.git   # marker_service_pkg

git clone https://github.com/your_link_here/bme_gazebo_sensors.git           # bme_gazebo_sensors (replace with real link)

git clone https://github.com/your_link_here/aruco_opencv.git                 # aruco_opencv (replace with real link)

git clone https://github.com/CarmineD8/ros2_navigation.git                   # ros2_navigation

git clone https://github.com/CarmineD8/erl1.git                              # erl1

Copy RViz configuration into bme_gazebo_sensors

The bme_gazebo_sensors package must contain the RViz config that lives in this repo (assignment2_exp/rviz/assignment.rviz). Create rviz/ inside the package (if not present) and copy the file:

# from ~/ros2_ws/src
cp assignment2_exp/rviz/assignment.rviz bme_gazebo_sensors/rviz/assignment.rviz

Next, edit the spawn_robot.launch.py file in bme_gazebo_sensors to set the rviz_config_arg parameter to assignment.rviz and to set the world_arg parameter to the world filename you want to use (found inside assignment2_exp/worlds/).

Add world to erl1 package

The erl1 package should contain the world file present in this repo's worlds/ folder. Copy the selected world file into erl1/worlds/ (create the folder if needed):

mkdir -p erl1/worlds
cp assignment2_exp/worlds/<your_chosen_world>.world erl1/worlds/

Replace <your_chosen_world>.world with the actual filename you want to use.

Add map files to ros2_navigation

Copy the map files (both YAML and PGM) into the ros2_navigation/maps folder. Create the folder if it doesn't exist.

mkdir -p ros2_navigation/maps
cp assignment2_exp/maps/map_assignment.yaml ros2_navigation/maps/
cp assignment2_exp/maps/map_assignment.png ros2_navigation/maps/

Now edit ros2_navigation/launch/localization.launch.py and change the parameter map_file_path to map_assignment.yaml.

Build the workspace

After all repos are in ~/ros2_ws/src and file edits/copies are complete, build the workspace.

How to run

To run the simulation, simply type this command after building the workspace:

ros2 launch assignment2_exp start_assignment.launch.py

This will open two additional terminals: one, labeled with the Executors name, runs the ROS 2 nodes, instead the other, labeled Plan, runs the get_plan_and_execute node.

Be careful: to use this launch file, gnome-terminal must be installed.