Sensor-Based Collision Prev

This repository contains the robot_no_crash package developed. The package is designed to prevent the collision during robot movement. This functionality is developed in both 2D (the STDR) and 3D (Gazebo).

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Note: This package is intended for ROS Noetic on Ubuntu Focal. It is recommended to have basic knowledge of ROS nodes, services, and tf transformations to use this package effectively.

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Table of Contents

1. Package Structure
2. Installation of Required Packages
   • Installation of ros-noetic-turtlebot-2d-world
   • Installation of STDR repository from GitHub
3. Clone This Repository
4. Launching the Package
5. Video for Running Experiment
6. Links and Resources

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Package Structure

  robot_no_crash
  ├── CMakeLists.txt
  ├── package.xml
  ├── launch
  │    ├── robot_no_crash.launch # for 2D STDR 
  │    └── robot_no_crash_gazebo.launch # for 3D gazebo
  ├── config
  │    ├── safety.yaml # for 2D STDR 
  │    └── safety_gazebo.yaml # for 3D gazebo
  ├── scripts
  │   └──robot_no_crash.py
  ├── src
  └── README.md

Installation of Required Packages

To use this package, ensure the following dependencies are installed:

Retrieve and prepare the STDR for building. Make a catkin workspace and make it the current working directory.

mkdir ‐p ~/stdr_ws/src
cd ~/stdr_ws/src

Installation of ros-noetic-turtlebot-2d-world

Install the ros-noetic-turtlebot-2d-world package from the course repository. This package depends on a Turtlebot 2 simulation and a Yujin Kobuki mobile base simulation.

 wget -q https://cwru-ecse-376.github.io/cwru-ecse-376.asc -O - | sudo apt-key add -
 sudo apt update
 sudo apt install  ros-noetic-turtlebot-2d-world

Configure to use ROS manually

source /opt/ros/noetic/setup.bash

Ensure all the dependencies are installed.

rosdep install -‐from‐paths src ‐i ‐y ‐r

Build the packages

catkin_make

Add the newly built packages to the environment

source devel/setup.bash

To make sure it is installed search this in your computer you installed.

    dpkg -L ros-noetic-turtlebot-2d-world

To test it run the following launch. To make sure it is installed search it in your computer you installed.

     roslaunch turtlebot_2d_world turtlebot_stdr_gazebo.launch

I got the following error in my case. If you also got the same error, please do the following steps:

The error:

     ... logging to /home/ilkekas/.ros/log/fecffa60-daa5-11ef-98e7-554aad097450/roslaunch-ilke-kas-335806.log
        Checking log directory for disk usage. This may take a while.
        Press Ctrl-C to interrupt
        Done checking log file disk usage. Usage is <1GB.


        RLException: Invalid roslaunch XML syntax: not well-formed (invalid token): line 8, column 37
        The traceback for the exception was written to the log file

How to fix?

     sudo nano /opt/ros/noetic/share/turtlebot_2d_world/launch/turtlebot_stdr_gazebo.launch

Then change the "value-" to "value=" in the launch file and save it. Then rerun the following roslaunch command.

     roslaunch turtlebot_2d_world turtlebot_stdr_gazebo.launch

Installation of STDR repository from GitHub

Clone the STDR repository from GitHub (Noetic is the default branch).

git clone ‐b noetic-devel / https://github.com/cwru‐ecse‐376/stdr_simulator.git

Prepare to make the packages Change to the base of the catkin workspace.

cd ../

Configure to use ROS manually

source /opt/ros/noetic/setup.bash

Ensure all the dependencies are installed.

rosdep install -‐from‐paths src ‐i ‐y ‐r

Build the packages

catkin_make

Add the newly built packages to the environment

source devel/setup.bash

Start the STDR to test the installation.

roslaunch stdr_launchers server_with_map_and_gui_plus_robot

Clone This Repository

    git clone https://github.com/cwru-courses/csds_476_s25_ixk238_robot_no_crash.git

• Compile the workspace

    catkin_make

• Run workspace configuration to be used by ROS

    source devel/setup.bash

Launching the Package

You can launch the package in 2 different ways by using two different

• Launch the robot_no_crash package with rqt_robot_steering by using robot_no_crash.launch :

 roslaunch robot_no_crash robot_no_crash.launch

• Launch the robot_no_crash package with rqt_robot_steering by using robot_no_crash_gazebo.launch :

 roslaunch robot_no_crash robot_no_crash_gazebo.launch

After you run both of these launch files, one needs to manually change the position of the robot, you need to change the topic to "/des_vel".

Video for Running Experiment

With 2D STDR

stdr_no_crash.mp4

With 3D Gazebo

gazebo_no_crash.mp4

Links and Resources

• CWRU ECSE 476 Course Page
• The physical specifications for Kobuki Base