Omnidirectional robot control based on vision - CPR - 4º GIERM

Packages

• camera_description : camera model for gazebo
• nexus_description : high level description of our robot model
• omnirobot_control : robot and trajectory control
• percepcion : mapping and robot localization
• planificador : path planning

How to launch the project

• Compile all the packages in your catkin workspace.

• Execute the full project:

  roslaunch proyecto_gazebo proyecto.launch

• The window titled "Seleccion_punto_final" allow to select the final desired robot positition clicking on the map.

  • Another window appear showing us the trayectory planned.

  • The robot will start to move following it.

  • You can click again on the previous window and the system will replan a trajectory for the new selected point.

  • You can add obstacles to the world intersecting the current trajectory, and a new trajectory will be replanned to avoid that.

• The desired orientation of the robot can be changed with:

  rosparam set /angle_robot [new_value]

Demo

Click here to see the demo video.

Authors

• David Tejero Ruiz
• José Manuel González Marín
• Miguel Granero Ramos
• Maria Castro Soto
• Pablo Díaz Rodríguez