followbot

A gazebo simulation platform where the automated guided vehicle (AGV) follows the green tape strip laid on the floor.

warehouse:

1. fred robot:

2. turtlebot:

tape detection:

Usage

install:

In order to install necessary requirements, run:

1. Ros Kinetic:

sudo apt-get install ros-kinetic-turtlebot
sudo apt-get install ros-kinetic-turtlebot-simulator
sudo apt-get install ros-kinetic-kobuki*
sudo apt-get install ros-kinetic-ros-numpy
cd ~/catkin_ws/src
git clone https://github.com/TempleRAIL/followbot.git
cd ..
catkin_make

2. Ros Melodic:

cd ~/catkin_ws/src
git clone https://github.com/TempleRAIL/followbot.git
cd followbot
sh setup_melodic.sh

run:

In order to start the simulation, run:

1. fred robot:

roslaunch followbot followbot_fred_robot.launch

2. turtlebot 2 robot:

roslaunch followbot followbot_turtlebot.launch

change track:

There are two different tape tracks: agv test track: and agv test broken track. In order to change the tape track, please modify the "./world/warehouse_20m.material" file:
a) agv test track:

      texture_unit
      {
        texture agv_test_track_v1.png
      }

b) agv test broken track:

      texture_unit
      {
        texture agv_test_broken_track_v1.png
      }