Robot Landmark Monitoring Simulation in Gazebo using ROS1

Table of Content

• Task Description
• ROS Environment Setup
• Gazebo Environment Setup
• How to run the code- ros server and client
• Video Output

Task Description

A robot turtlebot3 is moving the unknown world, that contains some objects like construction_barrel, dumpster, jersey_barrier, number1 etc.

• Figure out what is closest landmark/object to the robot.
• Give distance of each landmark/object from the robot

ROS Environment Setup:

If ROS-Noetic is not installed follow this

If ROS-Noetic Version already installed in the system : Run the following commands in the linux terminal to setup the ros workspace with turtlebot3 packages.

$ cd ~/catkin_ws/src             # will only run if catkin_ws is available at root directory
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git -b noetic-devel
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3.git -b noetic-devel
$ cd ~/catkin_ws && catkin_make

# for installing the turtlebo3_simulation
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
$ cd ~/catkin_ws && catkin_make
$ export TURTLEBOT3_MODEL=burger
$ roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch

Gazebo Environment Setup

• Follow the given steps to simulate the same world environment as shown in this Video Output.

$ git clone https://github.com/kumar-sanjeeev/ros1-landmark-monitor.git
$ cd ~/catkin_ws/src
$ mv sanjeev_1.launch ~/catkin_ws/src/turtlebot3_simulations/turtlebot3_gazebo/
$ mv sanjeev_world2.world ~/catkin_ws/src/turtlebot3_simulations/turtlebot3_gazebo/
$ cd ~/catkin_ws
$ catkin_make

How to run the code: ros server and client

$ roscore
$ export TURTLEBOT3_MODEL=burger
$ roslaunch turtlebot3_gazebo sanjeev_1.launch
$ rosrun tbot3 landmark_monitor                                   # calling node server
$ rosrun tbot3 landmark_client                                    # calling node client
$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch        # for controlling the turtlebot3 via keyboard

Video Output

final.mp4