SLAM and Autonomous Navigation using ROS and Mecanum Drive

Welcome to the SLAM and Autonomous Navigation using ROS and Mecanum Drive project repository! This project demonstrates the integration of Simultaneous Localization and Mapping (SLAM) techniques with the powerful ROS move_base package, enabling autonomous navigation for a robot equipped with a 4-wheeled Mecanum Drive system. The project also incorporates Mecanum kinematics to achieve precise and omnidirectional movement, allowing the robot to traverse complex environments effortlessly.

Introduction

In this project, we showcase the fusion of advanced robotics concepts. We leverage the capabilities of the Robot Operating System (ROS) to integrate SLAM techniques with the move_base navigation stack, empowering our robot to autonomously navigate while simultaneously building a map of its surroundings. The unique Mecanum Drive system enhances the robot's mobility, enabling it to move freely in any direction.

Features

• ROS-Powered Navigation: We harnessed ROS and the move_base package for robust and adaptable autonomous navigation.
• SLAM Integration: The project incorporates the ROS SLAM package to concurrently map the environment and accurately localize the robot.
• 4-Wheeled Mecanum Drive: We've seamlessly integrated a Mecanum Drive system, enabling omnidirectional movement. Mecanum kinematics are utilized to control the individual wheel velocities and achieve precise motion.
• Obstacle Avoidance: The project implements obstacle detection and avoidance strategies to ensure safe and efficient navigation.

Getting Started

To experience this project on your local machine, follow these steps:

1. Install ROS Noetic by following the step-by-step tutorial provided here: ROS Noetic Installation.
2. Create a ROS workspace:

   mkdir -p your_ws/src
   cd your_ws
   catkin_make
   

3. Install the required dependencies:

   sudo apt-get install ros-noetic-joy ros-noetic-teleop-twist-joy \
   ros-noetic-teleop-twist-keyboard ros-noetic-laser-proc \
   ros-noetic-rgbd-launch ros-noetic-rosserial-arduino \
   ros-noetic-rosserial-python ros-noetic-rosserial-client \
   ros-noetic-rosserial-msgs ros-noetic-amcl ros-noetic-map-server \
   ros-noetic-move-base ros-noetic-urdf ros-noetic-xacro \
   ros-noetic-compressed-image-transport ros-noetic-rqt* ros-noetic-rviz \
   ros-noetic-gmapping ros-noetic-navigation ros-noetic-interactive-markers 
   

4. Clone the project repository into your workspace:

   cd ~/your_ws/src
   git clone https://github.com/Rajeev-Gupta555/MECANUM_DRIVE.git
   cd ..
   catkin_make
   

Usage

Follow these steps to use the project:

1. Launch the mecanum robot simulation in Gazebo:

   roslaunch mecanum main.launch
   

2. Open a new terminal and launch the mecanum controller:

   roslaunch mecanum mecanum_ctrl.launch
   

   You should observe X, Y, and yaw output in the terminal.
3. For autonomous navigation within a pre-saved map: Open another terminal

   roslaunch mecanum navigation_mecanum.launch
   

   An RViz window will open, displaying the pre-saved map and the mecanum robot. You can publish a navigation goal using RViz for the robot to autonomously navigate to.

Launching SLAM and Navigation

To run SLAM or create your own map file, modify the world file in the gazebo.launch file with your custom world file. Launch the main.launch and then, in a new terminal:

• Run: roslaunch mecanum mapping.launch An RViz window will open, showing the robot and the laser data. To map the environment, you need to move the robot. Open a new terminal and run the teleop node.

  roslaunch mecanum send_cmd_vel.launch
  

This node is slightly different from usual teleop nodes; here, we'll be sending angles to the robot with respect to its x-axis in the anticlockwise direction. The robot will move holonomically along the direction specified by the angle. Here are the commands: - Press * and then enter an angle input in degrees, like *45 'enter'. - R for anticlockwise rotation and r for clockwise. - W to increase linear speed and X to decrease speed. - Press any other key to stop.

The robot will map the Gazebo world, and once mapping is complete, save your map by running: rosrun map_server map_saver -f ~/maps Your map's image and .yaml file should be saved in the maps folder. If you want to launch the navigation_mecanum.launch with your saved map, then modify the .yaml file in the launch file with your own.

Mecanum Kinematics

Mecanum wheels, also known as Ilon wheels or Swedish wheels, were invented in 1973 by Bengt Ilon, a Swedish engineer. They are a common type of omnidirectional wheel design. In this design, a series of free-moving rollers are attached to the hub at a 45° angle around the circumference.

Four Mecanum Omnidirectional Solution

Simulation results:

Contributing

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Feel free to explore, learn, and contribute to the convergence of robotics, SLAM, and autonomous navigation using ROS and Mecanum Drive technology. Happy exploring! 🤖🌟 We encourage any contributions to expand the range of functionalities of this project.