- The first stage begins with an omni-directional robot parked in front of a table. The four legs of the table are visible to the Lidar sensor at the centre of the robot.
- In the second stage, the robot will then find its way to go underneath the table, and it will align and center itself within 4 legs of the table as shown in the picture attached. Additionally the robot will response to the movement of the table accordingly.
- Install ROS Kinetic with ubuntu 16.04.
- Install Python, pip, and Scipy.
$ sudo apt-get install python-scipy
$ pip install scipy
-
create a workspace
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace
$ cd ..
$ catkin_make -
Clone the project and launch
$ cd ~/catkin_ws/src
$ git clone https://github.com/rvipin17/robo.git
$ cd ..
$ catkin_make
$ source ~/catkin_ws/devel/setup.bash
$ roslaunch robo robo.launch -
Now you will see robot getting inside the robot. Please change the table position, the robot will respond accordingly.
Thank You.