ME5413_Final_Project

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ME5413_Final_Project

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NUS ME5413 Autonomous Mobile Robotics Final Project

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# ME5413_Final_Project

NUS ME5413 Autonomous Mobile Robotics Final Project AY25/26
> Authors: [Christina](https://github.com/ldaowen), [Ziggy](https://github.com/ziggyhuang), [Dongen](https://github.com/nuslde), and [Shuo](https://github.com/SS47816)

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![cover_image](https://raw.githubusercontent.com/NUS-Advanced-Robotics-Centre/ME5413_Final_Project/main/src/me5413_world/media/overview2526.png)

## Dependencies

* System Requirements:
  * Ubuntu 20.04 (18.04 not yet tested)
  * ROS Noetic (Melodic not yet tested)
  * C++11 and above
  * CMake: 3.0.2 and above
* This repo depends on the following standard ROS pkgs:
  * `roscpp`
  * `rospy`
  * `rviz`
  * `std_msgs`
  * `nav_msgs`
  * `geometry_msgs`
  * `visualization_msgs`
  * `tf2`
  * `tf2_ros`
  * `tf2_geometry_msgs`
  * `pluginlib`
  * `map_server`
  * `gazebo_ros`
  * `jsk_rviz_plugins`
  * `jackal_gazebo`
  * `jackal_navigation`
  * `velodyne_simulator`
  * `teleop_twist_keyboard`
* And this [gazebo_model](https://github.com/osrf/gazebo_models) repositiory

## Installation

This repo is a ros workspace, containing three rospkgs:

* `interactive_tools` are customized tools to interact with gazebo and your robot
* `jackal_description` contains the modified jackal robot model descriptions
* `me5413_world` the main pkg containing the gazebo world, and the launch files

**Note:** If you are working on this project, it is encouraged to fork this repository and work on your own fork!

After forking this repo to your own github:

```bash
# Clone your own fork of this repo (assuming home here `~/`)
cd
git clone https://github.com/<YOUR_GITHUB_USERNAME>/ME5413_Final_Project.git
cd ME5413_Final_Project

# Install all dependencies
rosdep install --from-paths src --ignore-src -r -y

# Sometimes there might be missing dependencies such as sensor drivers for the simulation, if needed run the following to install (Thanks Zewen)
sudo apt install -y ros-noetic-sick-tim ros-noetic-lms1xx ros-noetic-velodyne-description ros-noetic-pointgrey-camera-description ros-noetic-jackal-control

# Build
catkin_make
# Source 
source devel/setup.bash
```

To properly load the gazebo world, you will need to have the necessary model files in the `~/.gazebo/models/` directory.

There are two sources of models needed:

* [Gazebo official models](https://github.com/osrf/gazebo_models)
  
  ```bash
  # Create the destination directory
  cd
  mkdir -p .gazebo/models

# Clone the official gazebo models repo (assuming home here `~/`)
  git clone https://github.com/osrf/gazebo_models.git

# Copy the models into the `~/.gazebo/models` directory
  cp -r ~/gazebo_models/* ~/.gazebo/models
  ```

* [Our customized models](https://github.com/NUS-Advanced-Robotics-Centre/ME5413_Final_Project/tree/main/src/me5413_world/models)

```bash
  # Copy the customized models into the `~/.gazebo/models` directory
  cp -r ~/ME5413_Final_Project/src/me5413_world/models/* ~/.gazebo/models
  ```

## Usage

### 0. Gazebo World

This command will launch the gazebo with the project world

```bash
# Launch Gazebo World together with our robot
roslaunch me5413_world world.launch
```

### 1. Manual Control

If you wish to explore the gazebo world a bit, we provide you a way to manually control the robot around:

```bash
# Only launch the robot keyboard teleop control
roslaunch me5413_world manual.launch
```

**Note:** This robot keyboard teleop control is also included in all other launch files, so you don't need to launch this when you do mapping or navigation.

![rviz_manual_image](https://raw.githubusercontent.com/NUS-Advanced-Robotics-Centre/ME5413_Final_Project/main/src/me5413_world/media/rviz_manual.png)

### 2. Mapping (Naive Version)

After launching **Step 0**, in the second terminal:

```bash
# Launch GMapping
roslaunch me5413_world mapping.launch
```

After finishing mapping, run the following command in the thrid terminal to save the map:

```bash
# Save the map as `my_map` in the `maps/` folder
roscd me5413_world/maps/
rosrun map_server map_saver -f my_map map:=/map
```

![rviz_nmapping_image](https://raw.githubusercontent.com/NUS-Advanced-Robotics-Centre/ME5413_Final_Project/main/src/me5413_world/media/rviz_mapping.png)

### 3. Navigation (Incomplete Version)

Once completed **Step 2** mapping and saved your map, quit the mapping process.

Then, in the second terminal:

```bash
# Load a map and launch AMCL localizer
roslaunch me5413_world navigation.launch
```

![rviz_navigation_image](https://raw.githubusercontent.com/NUS-Advanced-Robotics-Centre/ME5413_Final_Project/main/src/me5413_world/media/rviz_navigation.png)

## Student Tasks

### 1. Map the environment

* You may modify your Jackal robot to use other sensors, but please be realistic (i.e. no camera in the sky, subscribing to gazebo "ground truths")
* Also in the context of ME5413, please keep to the Jackal base robot (i.e. no drones, humanoids, robot dog...)
* You may use any SLAM algorithm you like, with any type of sensors:
  * 2D LiDAR(s)
  * 3D LiDAR(s)
  * Vision Sensor(s)
  * IMU(s)
  * Fused Multi-sensors
  * And any other combination...
* You may operate the robot manually for mapping
* You may want to remove all the moving/random objects in the environment by using the panel and/or commenting out some code in the launch file
* We have provided you a GUI in RVIZ that allows you to click and generate/clear the random objects in the gazebo world:
  ![rviz_panel_image](https://raw.githubusercontent.com/NUS-Advanced-Robotics-Centre/ME5413_Final_Project/main/src/me5413_world/media/control_panel.png)
* You may want to use tools like [EVO](https://github.com/MichaelGrupp/evo) to quantitatively evaluate the performance of your SLAM algorithm.
* Verify your SLAM accuracy by comparing your odometry with the published `/gazebo/ground_truth/state` topic (`nav_msgs::Odometry`), which contains the ground truth odometry of the robot.

### 2. Using your own map, autonomously navigate your robot to complete the tasks

![task_image](https://raw.githubusercontent.com/NUS-Advanced-Robotics-Centre/ME5413_Final_Project/main/src/me5413_world/media/overview2526.png)

* Please ensure the objects have been successfully generated at the start of each run
* On the lower floor, count the number of occurance of each type of numbered box (e.g. box 1, 2, 3, 4, the box numbers are randomly generated)
* Unblock the exit from the lower level by publishing a `true` message (`std_msgs/Bool`) to the `/cmd_unblock` topic to remove the orange barrel
  * Note that the exit can only be unblocked once and the unblocked time lasts for 10s
* Exit the lower level
* Go up the ramp to the upper level
* Navigate past the first two corridors
* At the wall with the two gaps, an orange traffic cone will be randomly placed in one of them closing the entrance, use the other door to navigate into the upper floor main room
* Avoid the simulated person (represented by the moving red cylinder) 
* Finally, stop the Jackal in the room containing the numbered box with the least number of occurance
* Please do not use any of the ground truth topics such as `/gazebo/ground_truth/state` or `/box_odom`

### 3. Submission (12 April 2026, 2359 HRS)

Please submit the following for the project:
  * Code to be submitted via your own Github repo link (Please make the repo public during submission)
  * Demo Video of your robot completing the tasks autonomously in a single run
  * Generated map files
  * Presentation (10 minutes), live demo of your robot (5 minutes), Q&A (3 minutes)
    * Please note that we will use the submitted presentation slides during the in-person presentation on 17 April
  * Report of max 10 pages (Please be concise)
  * In your report and presentation, please cover the following:
    * Perception, mapping & localization, navigation solutions
    * Challenge(s) faced and how you overcame them
  * Interesting ways to solve the challenges and well documented Github commits will be much appreciated by the TAs
  * Also there is a hidden "5413" in the simulation, kudos to those who managed to map it in as well!

## Contribution

If you managed to find any bugs, you are welcome to contribute to this repo by opening a pull-request

If you require any clarifications on the task or to operate the simulation, please raise them on Canvas

We are following (as much as possible):

* [Google C++ Style Guide](https://google.github.io/styleguide/cppguide.html),
* [C++ Core Guidelines](https://isocpp.github.io/CppCoreGuidelines/CppCoreGuidelines#main),
* [ROS C++ Style Guide](http://wiki.ros.org/CppStyleGuide)

## License

The [ME5413_Final_Project](https://github.com/NUS-Advanced-Robotics-Centre/ME5413_Final_Project) is released under the [MIT License](https://github.com/NUS-Advanced-Robotics-Centre/ME5413_Final_Project/blob/main/LICENSE)

ME5413_Final_Project

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