This is the repo for the AMR Project, The project's objective is to develop an autonomous mobile robot (AMR) capable of seamless navigation in a given environment, while also allowing manual control through teleoperation.
This is visual representation of how the components of an assembly or design are positioned and arranged relative to each other in URDF.
This is an example of how you may give instructions on setting up your project locally. To get a local copy up and running follow these simple example steps.
This is an example of how to list things you need to use the software and how to install them.
- Ros
- Refer to our Ros installation guide
- Installing Navigation specific dependencies: map-server, move_base and amcl
sudo apt install ros-noetic-navigation
- Serial Setup
- For serial setup to run motor driver using USB refer to this:
https://github.com/wjwwood/serial.git
- Clone the repo inside your
Ros Workspacegit clone [email protected]:krrish-jindal/AMR_FSM.git
- Build the package
cd ~/catkin_ws catkin_make
- Launch the packages file by
roslaunch <package_name> <launch_file>
- The
cad_assembly_amr_final_1dir contains all the bot model description files and main launch file. - The
navigationdir contains all the config files for enabling navigation and planning.
In order to run the simulation you are required to do the following:
- For running the
All Necessary Nodesroslaunch cad_assembly_amr_final_1 display.launch
-
For launch the
navigation file.roslaunch navigation navigation.launch
NOTE: Make sure that you have installed the navigation dependencies before running the navigation launch file.
-
Setting the goal In the Rviz add a 2d on the map.
Voila! The bot will start moving towards the goal now.
