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This repository includes the Halikarnas Modular Educational Robot (HAMER) ROS Melodic packages.

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Halikarnas Modular Education Robot (HAMER)

current_version last_commit ros_dist Apache-2.0 License lang CodeFactor

HAMER is a robotic project that is being developed for robotic education. This repository contains ROS Melodic (branch: melodic-devel) and ROS Noetic (branch: noetic-devel) compatible robot packages of HAMER robot. This metapackage includes the following subpackages.

Image of HAMER

  • hamer_bringup: It is a subpackage containing hardware control of HAMER robot.
  • hamer_description: It is the subpackage containing urdf files of the HAMER robot.
  • hamer_navigation: It is the subpackage containing the navigation package files of the HAMER robot.
  • hamer_simulation: It is a sub-package containing the package and launch files required for the simulation of the HAMER robot.
  • hamer_slam: It is a sub-package containing the package and launch files required for mapping of the HAMER robot.
  • hamer_teleop: It is a sub-package containing the codes required to control the HAMER robot from the keyboard in a simulated or hardware environment.

For HAMER_mini model : https://github.com/Akerdogmus/HAMER_mini

HAMER Installation:

ROS Melodic version:

git clone https://github.com/Akerdogmus/hamer -b melodic-devel

ROS Noetic version:

git clone https://github.com/Akerdogmus/hamer -b noetic-devel

Requirements:

  • In order for the sensors to work properly, "gazebo_ros_pkgs" files must be downloaded to your workspace.
git clone https://github.com/ros-simulation/gazebo_ros_pkgs.git -b noetic-devel
  • In order for the SLAM to work, "slam_gmapping" package must be downloaded to your workspace.
git clone https://github.com/ros-perception/slam_gmapping.git -b melodic-devel
  • In order for the "joint_state_publisher" to work, "joint_state_publisher_gui" package must be downloaded to your computer.
sudo apt update && sudo apt install ros-melodic-joint-state-publisher-gui
  • In order for the navigation package to work, "follow_waypoint" package must be downloaded to your workspace. (Waypoints package added and the default goal tolerance increased to 0.3 from 0.0 in phyton script to ease robot's movement.)
git clone https://github.com/danielsnider/follow_waypoints

Some HAMER ROS Commands:

Rviz Launching:

roslaunch hamer_simulation hamer_rviz.launch

Solo-Rviz Launching (v1.3 Update):

roslaunch hamer_simulation hamer_rviz_standalone.launch

Gazebo Launching:

roslaunch hamer_simulation hamer_gazebo.launch

or

roslaunch hamer_simulation hamer_gazebo_emptyworld.launch

or

roslaunch hamer_simulation hamer_gazebo_maze.launch

SLAM Launching:

roslaunch hamer_slam hamer_slam.launch

Teleop Launching:

rosrun hamer_teleop hamer_teleop.py

Navigation Launching (Added v1.1):

roslaunch hamer_navigation hamer_navigation.launch

Image of HAMER_2

NOTE: Before running keyboard code, run on terminal this codes:

cd ~/hamer_teleop/scripts && chmod +x hamer_teleop.py

Changelog:

Update v1.0 - 02.08.20

  • First version

Update v1.1 - 21.08.20

  • Added Gazebo Sonar Plugins (Now Sonar Sensors available)
  • Added hamer_navigation subpackage (Now navigation tools and 2d nav goal available)
  • Added new Gazebo maps and launch files

Update v1.2 - 08.09.20

"hamer_navigation" Package Changes:

  • base_local_planner parameters changed.
  • costmap_common_parameters new parameters added and existing upgraded.
  • Added new parameters for global_costmap and local costmap.
  • costmap_converter, teb_local_planner in param folder and cfg folder in navigation package removed.
  • navigation launch file: The param teb_local_planner is removed. Instead, TrajectoryPlannerRos used.
  • Rviz starting added to launch file.

Update v1.3 - 07.03.21

  • HAMER is now ROS Noetic compatible.
  • "hamer_rviz_standalone.launch" file added (For using HAMER Rviz without Gazebo working)

"hamer_teleop" Package Changes:

  • for teleop operation Launch file added so only launch file is enough to use keyboard.

Update v1.3.1 - 16.03.21

  • Some bug and file fixes.

Roadmap:

  • Hamer Navigation subpackage
  • New Gazebo Maps
  • Hamer ROS Noetic version
  • Hamer ROS2 version
  • New Hamer robot model
  • All Hamer subpackage rework

Extras:

  • If you want to control the robot with the help of an interface, not a terminal, you can install Robotic Controller Interface in your workspace.
git clone https://github.com/Akerdogmus/Robotic_Controller_Interface 

Maintainer

Contributors

Supervisor

License

See the LICENSE file for license rights and limitations (Apache-2.0 License).