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Sahayak-v3

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최종 버전 다운로드 (.zip)

- - pointcloud.png
- - depth_proc.launch
  - realsense.launch
  - realsense_multiple_urdf.launch
  - realsense_urdf.launch
- - gazebo_ros_realsense.cpp
  - RealSensePlugin.cpp
- - realsense_streams.test
  - realsense_streams_test.cpp
  - template.cpp
- - multi_rs200_simulation.xacro
  - realsense-RS200.macro.xacro
  - rs200_simulation.xacro
- - realsense.world
- CMakeLists.txt
- package.xml
- README.md
- - joint_names_sahayak.yaml
- - display.launch
  - gazebo.launch
  - launch_all.launch
  - path_planning_display.launch
- - base_link.STL
  - Camera.STL
  - Lidar.STL
  - Wheel_left_back.STL
  - Wheel_left_front.STL
  - Wheel_right_back.STL
  - Wheel_right_front.STL
- - model.config
- - amcl-local.launch
  - sahayak.csv
  - sahayak.urdf
- - cafe.world
  - my_world.world
- CMakeLists.txt
- package.xml
- - sahayak_control.yaml
- - sahayak_control.launch
  - teleop.launch
- - vel_control.py
- CMakeLists.txt
- package.xml
- - hector_map.rviz
  - mapping.rviz
- - odom-pub.py
- CMakeLists.txt
- package.xml
- - costmap_common_params.yaml
  - dwa_local_planner_params.yaml
  - global_costmap_params.yaml
  - local_costmap_params.yaml
  - move_base_params.yaml
- - amcl-localisation.launch
  - sahayak_navigation.launch
  - scan_matcher.launch
- - path_planning.rviz
- - navigator.py
  - scan_matcher_topic.py
- CMakeLists.txt
- package.xml
- - gpu.png
  - rviz.png
- - CHANGELOG.rst
  - CMakeLists.txt
  - package.xml
- - CHANGELOG.rst
  - CMakeLists.txt
  - package.xml
- - CHANGELOG.rst
  - CMakeLists.txt
  - package.xml
- .gitignore
- bitbucket-pipelines.yml
- gazebo_upgrade.md
- LICENSE
- README.md
- - ground_truth.py
  - launch_all.launch
  - optical_pnp.py
  - visual_odom_2.py
- CMakeLists.txt
- package.xml
- README.md
README.md
requirement.txt
ros_requirements.txt

// repository documentation

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# Sahayak - An Autonomous Covid Aid-Bot

## Python Requirements
``` shell
pip install -r requirement.txt
```
## Required ROS Packages
``` shell
xargs sudo apt install < ros_requirements.txt
```
## CAD Model of Sahayak 
* URDF and mesh files of the SolidWorks Assembly are generated using the [sw_urdf_exporter](http://wiki.ros.org/sw_urdf_exporter).
* After installing the exporter, the `SW2URDF` add-in gets appended in the add-ins list of SolidWorks. Further detailed instructions are documented [here](http://wiki.ros.org/sw_urdf_exporter/Tutorials/Export%20an%20Assembly).
<p align="center">
<img src="https://user-images.githubusercontent.com/64685403/132857785-d6f70385-3a5a-43d3-9c87-5cd9a9a209a8.gif" width="400">
</p>

## Result
### ROS Controls:
#### Teleoperation using Keyboard inputs
For teleoperation of Sahayak run the below command in terminal:

```shell
roslaunch sahayak_control teleop.launch
```

<p align="center">
<img src="https://user-images.githubusercontent.com/64685403/121785722-15dbcc00-cbd9-11eb-86ee-6b86179110eb.gif" width="500">
</p>

### Visual Odometry:
Implemented Visual Odometry pipeline using the following 
``` shell
roslaunch visual_odom launch_all.launch
rosrun visual_odom optical_pnp.py 
```
<p align="center">
<img src="https://user-images.githubusercontent.com/64685403/138917122-9e9af6f9-031c-4aa0-a81c-f3d246763067.gif" height="220" width="460">
</p>
* 2D to 2D Motion Estimation Algorithm

<p align="center">
<img src="https://user-images.githubusercontent.com/64685403/121784729-37d25000-cbd3-11eb-9314-2a5fbb041a9a.png" width="400">
</p>

* 3D to 2D Motion Estimation Algorithm
[Result Video](https://drive.google.com/file/d/173dWtAgQprP5A2eiIHDtA-GP9SdjEXO3/view?usp=sharing)

<p align="center">
<img src="https://user-images.githubusercontent.com/64685403/121784831-e4accd00-cbd3-11eb-8202-94722c2689f7.png" width="400">
</p>

### Mapping:

#### GMapping
[GMapping](http://wiki.ros.org/gmapping) is a ROS Package used creating a 2D occupancy grid map of an enviroment using a 2D LiDAR, tf and Odometry data.

To map the default enviroment using GMapping run the below commands in seperate terminals:
 
```shell
roslaunch sahayak_mapping gmap-launch_all.launch
```

```shell
roslaunch sahayak_navigation scan_matcher.launch
```

<p align="center">
<img src="https://user-images.githubusercontent.com/69981745/125203882-3a8a9880-e298-11eb-830b-166dbaab8e16.gif" width="500">
</p>

#### Hector SLAM
[Hector SLAM](http://wiki.ros.org/hector_slam) is a ROS package which is used for creating a 2D occupancy grid map of an enviroment using a 2D LiDAR, tf data and Odometry data (Optional).
<p align="center">
<img src="https://user-images.githubusercontent.com/64685403/121784874-276ea500-cbd4-11eb-948d-58333b687bce.png" width="350">
</p>

#### RTAB (Real Time Appearance Based) Map:
[RTAB-Map](http://wiki.ros.org/rtabmap_ros) is a ROS Package which uses a RGB-D camera to generate a 3D map of an enviroment.

To map the default enviroment using RTAB Map run:
```shell
roslaunch sahayak_mapping rtab-mapping.launch
```
<p align="center">
<img src="https://user-images.githubusercontent.com/64797216/121785126-98628c80-cbd5-11eb-9d54-c349228d4ee7.gif" width="500">
</p>

### ROS Navigation Stack:

#### AMCL 
Sahayak was localised in a map using Adaptive Monte Carlo Localisation (AMCL) which uses adaptive particle filters.
<p align="center">
<img src="https://user-images.githubusercontent.com/69981745/125203696-2befb180-e297-11eb-93c2-7971d5cc969d.gif" width="600">
</p>

#### Path Planning
Path Planning involves finding a lowest cost path based on 2D Local and Global [Costmaps](http://wiki.ros.org/costmap_2d).
##### ROS Packages using in Path Planning:
* [AMCL](http://wiki.ros.org/amcl)
* [costmap_2d](http://wiki.ros.org/costmap_2d)
* [dwa_local_planner](http://wiki.ros.org/dwa_local_planner)
* [global_planner](http://wiki.ros.org/global_planner)

Run ``` roslaunch sahayak launch_all.launch ``` in a terminal to launch Path Planning launch file. Use `2D Nav Goal` in RVIZ to give a goal to Sahayak.

<p align="center">
<img src="https://user-images.githubusercontent.com/69981745/125204893-0bc2f100-e29d-11eb-83c9-d00fbe9d5126.gif" width="600">
</p>