AMR_simulator

Autonomous Mobile Robot (AMR) ROS Gazebo simulator

This repo contains two types of AMR:

1. Differential drive type
2. Omni-directional drive type

How to build the simulator

• Clone the repository and catkin_make:

cd ~/catkin_ws/src
git clone https://github.com/kimtj5521/AMR_simulator
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash

Differential drive type Example

roslaunch amr_simulation dd_amr_simulation.launch

SLAM using google cartographer

• Occupancy grid base SLAM

roslaunch amr_simulation amr_slam_occ.launch

• TSDF base SLAM

roslaunch amr_simulation amr_slam_tsdf.launch

Save cartographer map and convert for navigation

rosservice call /finish_trajectory 0
rosservice call /write_state "map_name.pbsteam" true
# example rosservie call /write_state ${HOME}/catkin_ws/src/amr_simulation/pbstream/map.pbstream true

# occupancy grid map case
rosrun map_server map_saver -f your_map.pbstream --occ 65 --free 20

# TSDF grid map case
rosrun map_server map_saver -f your_map.pbstream --occ 35 --free 15

If you want to get more information of usage about cartographer, please refer to Cartographer_ROS

You can convert the pbstream file to pgm+yaml files through using the ros map_server.

Occupied space and free space threshold values can be changed to your own threshold.

Map based localization

Change map path in launch file.

• Occupancy grid map

roslaunch amr_simulation amr_occ_localization.launch

• TSDF map

roslaunch amr_simulation amr_tsdf_localization.launch