Autonomous Inspection Robot Based on ROS2 and Navigation2

中文版 | English Version

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English Version

Autonomous Inspection Robot Based on ROS2 and Navigation2

1. Project Introduction

This project designs a simulation system for an autonomous inspection robot based on ROS 2 and Navigation 2. The inspection robot is capable of moving in a loop between different target points. Upon reaching each target point, it first plays a voice announcement of the arrived target point information, followed by capturing a real-time image through the camera and saving it to the local storage. The functions of each package are as follows:

• fishbot_description: Robot description files, including simulation-related configurations.
• fishbot_navigation2: Robot navigation configuration files.
• fishbot_application: Python code for robot navigation applications.
• fishbot_homework: C++ code for robot navigation applications.
• autopatrol_interfaces: Interfaces related to autonomous inspection.
• autopatrol_robot: Functional package for implementing autonomous inspection.

2. Usage Instructions

The development platform information for this project is as follows:

• Operating System Version: Ubuntu 22.04
• ROS Version: ROS2 Humble

2.1 Installation

This project uses slam-toolbox for mapping, Navigation2 for navigation, Gazebo for simulation, and ros2-control for motion control. Please install the dependencies before building, using the following commands:

1. Install SLAM and Navigation2

sudo apt install ros-$ROS_DISTRO-nav2-bringup ros-$ROS_DISTRO-slam-toolbox

2. Install Simulation-related Packages

sudo apt install ros-$ROS_DISTRO-robot-state-publisher ros-$ROS_DISTRO-joint-state-publisher ros-$ROS_DISTRO-gazebo-ros-pkgs ros-$ROS_DISTRO-ros2-controllers ros-$ROS-DISTRO-xacro

3. Install Speech Synthesis and Image-related Packages

sudo apt install python3-pip -y
sudo apt install espeak-ng -y
sudo pip3 install espeakng
sudo apt install ros-$ROS_DISTRO-tf-transformations
sudo pip3 install transforms3d

2.2 Running

After installing the dependencies, you can use the colcon tool to build and run the project. Build the packages

colcon build

Run the simulation

source install/setup.bash
ros2 launch fishbot_description gazebo.launch.py

Run the navigation

source install/setup.bash
ros2 launch fishbot_navigation2 navigation2.launch.py

Run the autonomous patrol

source install/setup.bash
ros2 launch autopatrol_robot autopatrol.launch.py

3. Author

This project references the practice of an autonomous inspection robot from the fishros community and serves as an internship assignment for the author's introduction to ROS2. The author has supplemented some of the Python code with C++, as the original tutorial did not provide a C++ version of the waypoint_follower.py. The author has written its C++ version and placed it in the fishbot_homework directory. It has been tested and runs successfully, and it is available for reference and learning. The waypoints in the author's code have been modified and can also be adjusted according to the maps provided in the repository as needed. Acknowledgments:

• fishros

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中文版

基于ROS2和Navigation2 自动巡检机器人

1.项目介绍

本项目基于ROS 2和 Navigation 2设计了一个自动巡检机器人的仿真系统。

该巡检机器人能够在不同的目标点直接循环移动，每到达一个目标点后首先通过语音播放到达的目标点信息，接着通过摄像头采集一张实时的图像并保存到本地。

各功能包功能如下：

• fishbot_description 机器人描述文件，包含仿真相关配置
• fishbot_navigation2 机器人导航配置文件
• fishbot_application 机器人导航应用python代码
• fishbot_homework 机器人导航应用c++代码
• autopatrol_interfaces 自动巡检相关接口
• autopatrol_robot 自动巡检实现功能包

2.使用方法

本项目开发平台信息如下:

• 系统版本:Ubuntu22.04
• ROS 版本:ROS2 Humble

2.1安装

本项目建图采用slam-toolbox，导航采用Navigation2，仿真采用Gazebo，运动控制采用ros2-control实现，构建之前请先安装依赖，指令如下:

1.安装SLAM和Navigation2

sudo apt install ros-$ROS_DISTRO-nav2-bringup ros-$ROS_DISTRO-slam-toolbox

2.安装仿真相关功能包

sudo apt install ros-$ROS_DISTRO-robot-state-publisher ros-$ROS_DISTRO-joint-state-publisher ros-$ROS_DISTRO-gazebo-ros-pkgs ros-$ROS_DISTRO-ros2-controllers ros-$ROS_DISTRO-xacro

3.安装语音合成和图像相关功能包

sudo apt install python3-pip -y
sudo apt install espeak-ng -y
sudo pip3 install espeakng
sudo apt install ros-$ROS_DISTRO-tf-transformations
sudo pip3 install transforms3d

2.2运行

安装完成依赖后，可以使用colcon工具进行构建和运行。 构建功能包

colcon build

运行仿真

source install/setup.bash
ros2 launch fishbot_description gazebo.launch.py

运行导航

source install/setup.bash
ros2 launch fishbot_navigation2 navigation2.launch.py

运行自动巡检

source install/setup.bash
ros2 launch autopatrol_robot autopatrol.launch.py

3.作者

这个项目参考了鱼香ros的自动巡检机器人实践,属于是作者入门ros2的实习作业。

作者的代码相对于原教程，做出了部分python代码的C++补充。 原教程的waypoint_follower.py，鱼香ros书上未提供C++版本代码，作者遂自行编写了它的C++版本，放置在fishbot_homework目录下。经实践可以成功运行，需要的可以学习参考。

作者代码的路径点经过修改，也可以根据仓库里面的地图自行按需要修改。

感谢：

• fishros