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PlatypOUs Mobile Robot Platform

Software repository of the PlatypOUs differential drive mobile robot platform.

Repository structure

  • ros: ROS workspace environment
  • web: web server and GUI
  • docker: Docker specific files

Using the repository

To use the repository, you should be familiar with the following:

  • basic Linux usage, like using the terminal, navigating in the directories, or running scripts. Here is a link that may be useful for starting: https://ubuntu.com/tutorials/command-line-for-beginners
  • basic ROS concepts, like the nodes, topics, messages, publishing, subscribing, ROS command line tools, roslaunch, rqt, rviz, tf, etc... Make sure you have read the following: http://wiki.ros.org/ROS/Introduction, http://wiki.ros.org/ROS/Tutorials
  • basic Python or C++ knowledge, if you want to make your own nodes or alter existing ones
  • basic JavaScript and Node.JS knowledge if you want to make something for the web interface
  • Git usage, if you want to contribute to the repository
  • Docker, if you want to use the simulation from Docker. The real robot also runs ROS in Docker. See: https://docs.docker.com/get-started/

The robot can be used in two ways: with the real hardware, or in the Gazebo simulator. Both can be used with ROS installed natively, or using Docker.

Running the simulation

Requirements

If you want to use natively installed ROS, make sure you have the following installed:

  • Ubuntu 20.04 Focal Fossa (recommended) or Debian 10 Buster (either installed natively, or in a virtual machine). See: https://ubuntu.com/tutorials/install-ubuntu-desktop, https://itsfoss.com/install-linux-in-virtualbox/
  • ROS Noetic desktop full version. See: http://wiki.ros.org/noetic/Installation
  • Gazebo 11 (should be already installed if you installed ROS desktop full version)
  • ROS packages: robot_localization, gmapping, twist_mux, move_base, global_planner, dwa_local_planner: sudo apt install ros-noetic-robot-localization ros-noetic-gmapping ros-noetic-twist-mux ros-noetic-move-base ros-noetic-global-planner ros-noetic-dwa-local-planner
  • Node.js for the web GUI server: curl -fsSL https://deb.nodesource.com/setup_lts.x | bash - && apt-get install -y nodejs

Alternatively, you can use Docker. See: https://docs.docker.com/get-docker/. This is only tested using the Linux version of Docker Engine. It may or may not work on Windows.

Instructions

1. Clone or download the repository

git clone https://github.com/ABC-iRobotics/PlatypOUs-Mobile-Robot-Platform.git
cd PlatypOUs-Mobile-Robot-Platform

If you want to use Docker, generate the Docker image:

./platypous_docker build

2. Initialize and build

This will initialize the web app if not initialized, and build the ROS workspace.

You should also run this every time you make a change in one of the ROS packages.

With ROS installed:

./platypous build

Using Docker:

./platypous_docker run build

3. Start the simulation

This will start the simulation with the default configuration, and the server for the web GUI.

With ROS installed:

./platypous start_sim

Using Docker:

./platypous_docker run start_sim

Using the robot

After starting the simulation, you should see the simulator window with the robot in it. The web GUI is available using a browser by typing: localhost:3000

If you use Docker, you may need additional terminals to start programs in the ROS environment. You can achieve this by running the image in interactive mode using:

./platypous_docker run

This will give you a terminal inside the ROS container, where you can use ROS and PlatypOUs related commands.

For information on the ROS packages, nodes and topics, see the PlatypOUs ROS workspace.

For information on the web server and GUI, see the PlatypOUs Web GUI.

Issues

If you find any problems with building or using this repository, please open an issue on GitHub: https://github.com/ABC-iRobotics/PlatypOUs-Mobile-Robot-Platform/issues

More detailed documentation is under construction, feel free to ask/suggest anything. Any feedback is greatly appreciated.