LNS-Robot

Table of Contents

1. About The Project
2. Getting Started
   • Software Prerequisites
   • Hardware Prerequisites
   • Installation
3. Usage LNS Robot
4. Usage Simulation
5. Gazebo
6. Results
7. License

About The Project

Project for an autonomous 4 wheel independent steering robot using GPS and IMU.

Getting Started

Software Prerequisites

• Ubuntu 20.04
• ROS Noetic

Hardware Prerequisites

• GPS TDR-3000
• IMU LPMS-IG1

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Installation

1. Install dependencies

   # CAN
   sudo apt-get install ros-noetic-ros-canopen
   # NMEA GPS Package
   sudo apt-get install python3-testresources
   sudo apt-get install ros-noetic-catkin-virtualenv
   # TEB Local Planner
   sudo apt-get install ros-noetic-teb-local-planner
   # Robot Localization Package
   sudo apt-get install ros-noetic-robot-localization
   # GPS Plugin
   sudo apt-get install ros-noetic-hector-gazebo-plugins
   # Move Base Package
   sudo apt-get install ros-noetic-move-base
   # Map Server
   sudo apt-get install ros-noetic-map-server
   
   # Keyboard control
   sudo apt install ros-noetic-teleop-twist-keyboard
   # Joystick control
   sudo apt install ros-noetic-joy

2. Clone the repo

   git clone https://github.com/pvela2017/LNS-Robot

3. Compile

   cd ./LNS-Robot && catkin_make

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Usage of the robot

1. Prepare the CAN bus and Joystick

# CAN0
sudo ip link set can0 up type can bitrate 1000000
# CAN1
sudo ip link set can1 up type can bitrate 1000000
# Joystick
sudo chmod a+rw /dev/input/js0

2. Initialize IMU and GPS

roslaunch lns_launch nav_sensors.launch

3. Launch the CAN buses

roslaunch lns_launch can_bus.launch

4. Bringup driving motor interface

roslaunch lns_bringup bringup_driving.launch

5. Bringup steering motor interface

roslaunch lns_bringup bringup_steering.launch

6. Launch driving motors interface

roslaunch driving_pid driving_pid.launch
roslaunch driving_motors driving_motors.launch

7. Launch steering motors interface

roslaunch steering_motors steering_feedback.launch
roslaunch steering_pid steeringposition_pid.launch
roslaunch steering_motors steering_motors.launch

8. URDF, TF and joint transforms:

roslaunch lns_bringup lns_bringup.launch

9. Controller interface:

# Swerve Controller
roslaunch lns_controller main_controller_swerve.launch

10. Then the whole navigation system can be launch using:

roslaunch lns_launch lns_real.launch

This will launch:

• The navigation sensor (GPS & IMU) package
• The localization package
• The navigation package

Keyboard control:

# Keyboard
roslaunch lns_teleop teleop_keyboard_swerve.launch
# Joystick
roslaunch lns_teleop teleop_joystick_swerve.launch 

Usage Simulation

The simulation can be launch using:

roslaunch lns_launch lns_sim.launch

This will launch:

• The gazebo environment
• The localization package
• The navigation package
• The move base package

Gazebo

1. Start the gazebo simulation environment.

roslaunch lns_gazebo empty_world.launch

2. Start the robot control package.

roslaunch lns_controller main_controller_sim.launch

3. Start the robot_localization package.

roslaunch lns_navigation start_navigation_with_gps_ekf_sim.launch 

3. Start the move base package.

roslaunch lns_navigation move_sim.launch

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Results

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License

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