stage_ros_robot_controller

ROS stage simulator code example to control a robot to reach a determined target avoiding obstacles using a laser sensor (LiDAR) of 270 degree range on a Hokuyo map.

Built with:

• ROS 1
• Python 3

Project file tree

.
|-- catkin_ws
    |-- build
    |-- devel
    |-- src
        |-- CMakeLists.txt
        |-- stage_controller
            |-- [...]
            |-- scripts
                |-- stage_controller.py

Getting Started

Install ROS

The code was developed on ROS Noetic Ninjemys distribution. Instruction can be found here.

Run stage simulator environment

First, run this command to have access to the ROS commands and update the environment.

source /opt/ros/noetic/setup.bash
source ./devel/setup.bash

At the catkin_ws directory run the stage simulator using an hokuyo world.

rosrun stage_ros stageros src/stage_controller/world/create_hokuyo.world

Run the robot control script

Now, run the python script which controls the robot with the command

rosrun stage_controller stage_controller.py

Acknowledgments

This project was made as part of the Robot's Project course in Robotics and AI postgraduate program at UTEC/FURG.

The ideia was implement a solution without consult any existing method of localization and mapping.

To-do list

• Improve the condition that makes the robot choose turn left/right.
• Implement a function to change robot's position at any time
• Implement a dynamic way of verify is there is some obstacle in the robot's path
• Implement a known mapping and location algorithm