Intro: This is a description document of a Ros simulation package created for the project “P3 project autonomous toilet cleaner”. The document will explain the gazebo, robot description, Slam_gmapping, navigation, iraLaserTools, and moveit integration packages. A demo video can be found at: https://youtu.be/FsXPII8OoOU Gitrepo: Gazebo environment: The environment consists of two main spaces. The first one simulates a main area (living room , office ..), the second is a main space that has access to a toilet space. The environment was created to simulate a scenario where the robot can perform mapping and navigation tasks.
Robot description: Models: The package consists of two main 3D models. A design provided by the manufacturer, a holonomic platform where the arm is mounted, and 3D models of RGB, depth, and lidar sensors.
Ros Plugins: The description package includes multiple ROS/Gazebo plugins: Libgazebo_ros_planar_move : for holonomic movement simulation. Libgazebo_ros_control, libgazebo_joint_control, libgazebo_joint_state_publisher, Libgazebo_joint_trajectory_server: for publishing and controlling the arm joints state using moveit. Ros transmissions : to simulate joints control. Libgazebo_ros_laser: to simulate lidar sensors. Libgazebo_ros_openni_kinect: to simulate rgb and depth cams.
Control files: A .yaml file that includes configurations used further by movit to control the arm. World file: Includes the design of the environment. Launch files: Gazebo.launch: not to run, included in robot.launch Arm.launch: not to run , included in robot.launch Robot.launch : starts the robot and arm simulation in gazebo. Slam_gmapping.launch : start the nodes required for gmapping. Launch commands: $ roslaunch toiletcleaner robot.launch $ roslaunch toiletcleaner slam_gmapping.launch
Tcnav: The package include teb.launcn file to start the ROS nodes required to perform navigation using Teb local planner and dwa global planner. Launch command: $ roslaunch tcnav teb.launch
IRA_laser_tools: Used to merge the data from both lidars and publish results on /Scan topic. The nodes are started at the launch of toiletcleaner/robot.launch TcMoveit: The package contains moveit configuration files and a launch file to start required nodes in order to simulate moveit integration with the robot. Launch command: $ roslaunch tcmoveit tc.launch