- About the Project
- Usage and Guide
- Results and Demo
- Future Work
- Contributors
- Acknowledgements and Resources
- Project Timeline
- Obstacle Avoidance Racecar is an autonomous robot designed in Solidworks and simulated and tested in ROS, Gazebo, RViz, etc. It's main objective is to avoid obstacle using ODG-PF algorithm and line following through OpenCV and PID.
- More about the project full project here.
📦racecar_eklavya
┣ 📂config
┃ ┗ 📜joint_names_racecar_updated_urdf.yaml
┣ 📂controllers
┃ ┣ 📜diff_drive.py
┃ ┣ 📜imu_reading.py
┃ ┣ 📜laser_range.py
┃ ┣ 📜line_follower.py
┃ ┣ 📜obstacle_avoidance.py
┃ ┗ 📜obstacle_plus_line.py
┣ 📂launch
┃ ┣ 📜robot_description.launch
┃ ┗ 📜model.sdf
┣ 📂meshes
┃ ┣ 📜base_link.STL
┃ ┣ 📜FLW_Link.STL
┃ ┣ 📜FRW_Link.STL
┃ ┣ 📜hokuyo.dae
┃ ┣ 📜RLW_Link.STL
┃ ┗ 📜RRW_Link.STL
┣ 📂urdf
┃ ┣ 📜my_robot.gazebo
┃ ┣ 📜my_robot.xacro
┃ ┣ 📜racecar_updated_urdf.urdf
┃ ┗ 📜racecar_updated_urdf.csv
┣ 📂worlds
┃ ┣ 📜world01.world
┃ ┣ 📜world02.world
┃ ┗ 📜world03.world
┣ 📜CMakeLists.txt
┣ 📜README.md
┗ 📜package.xml
- Tested upon UBUNTU 20.04
- Gazebo
- git clone the main repo in the /src of your catkin_ws using command
cd ~/catkin_ws/src
git clone https://github.com/sameergupta4873/racecar_eklavya.git
- git clone the ira_laser_tools branch repo in the /src of your catkin_ws using
git clone https://github.com/sameergupta4873/ira_laser_tools.git
- cd into your catkin_ws and run command
cd ~/catkin_ws
catkin_make
source devel/setup.bash
roslaunch racecar_eklavya world.launch
- open new terminal again cd into catkin_ws again run command
source devel/setup.bash
roslaunch ira_laser_tools laserscan_multi_merger.launch
- finally to avoid obstacles again open a new terminal cd into catkin_ws and run command
cd ~/catkin_ws
source devel/setup.bash
rosrun racecar_eklavya obstacle_avoidance.py
- robot should start moving and avoiding obstacles
- to stop the running script
CTRL + C
- Start the line follower script
rosrun racecar_eklavya line_follower.py
Screen.Recording.2022-10-14.at.4.38.18.PM.mp4
Screen.Recording.2022-10-14.at.5.01.46.PM.mp4
- Achieving Line Following using OpenCV and PID
- Acheveing Line Following and Obstacle Avoidance simultaneously
- SRA-VJTI Eklavya 2022
- the Basic Science Research Program through the National Research Foundation of Korea (NRF) for ODG-PF resource paper .
- IRALABS for template for Laser Data Merging .
- Our Mentors Toshan Luktuke , Mark Koothoor and Aryaman Shardul for guiding and helping whenever we were stuck .
gantt
SW & URDF :a, 2022-08-17, 1w
Spawn & Drive : b,after a,1w
Lidar-Merge & IMU: c, after b, 9d
Obstacle Avoidance : d , after c , 9d
Line Following : e , 2022-09-17 , 1w