HARE

Heterogeneous Autonomous Multirobot Exploration Ros Node

You can read the in-progress IEEE style paper at: https://github.com/uga-ssrl/hare/blob/master/doc/latex_MRS/hare-paper.pdf, this is also located in this repo in the latex_MRS folder in doc.

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Dependencies

ros-behavior-tree

• git clone https://github.com/miccol/ROS-Behavior-Tree.git in ~/catkin_ws/src/

Enviroment Variables

• The GAZEBO_MODEL_PATH needs to point to the world folder in the hare repository. This should be a global / absolute path. OR! simply go to the world folder in this repo and type: export GAZEBO_MODEL_PATH=$(catkin_ws)/src/hare/world

Turtlebot-Navigation

• Just need to install sudo apt-get install ros-kinetic-turtlebot-navigation

Robot Dependencies

• clone all of the following in ~/catkin_ws/src/robot/

robot1

• turtlebot_description package for launch files

(youbot variant)

• in /path/to/catkin_ws/src git clone https://github.com/youbot/youbot_simulation.git
• in /path/to/catkin_ws/src git clone https://github.com/youbot/youbot_description.git --branch kinetic-devel

robot2

• update update rate to 50 at line 5 of rosbot.gazebo
• in /path/to/catkin_ws/src/ git clone https://github.com/husarion/rosbot_description.git
• in /path/to/rosbot_description/urdf/rosbot.gazebo find the following commented line and follow the instructions to not use GPU <!-- If you cant't use your GPU comment RpLidar using GPU and uncomment RpLidar using CPU gazebo plugin. -->

robot3

• To install husky packages run: sudo apt-get install ros-kinetic-husky-simulator

Compilation

/path/to/catkin_ws$ catkin_make then /path/to/catkin_ws$ source devel/setup.bash

Simulation

roslaunch hare hare_sim.launch

Adding robots

• add robots in hare/launch/robots.launch
• create new namespace and place descriptions and include one_robot.launch
  • this can be seen in the turtlebot examples
• you must also increment the following in robots.launch <param name="num_robots" value="3"/>

#ERROR mitigation for gazebo plugin

• go into your .gazebo in each robot description, i.e: for youbot go into: youbot_description/controller/ros_controller.urdf.xacro and add the following snippet:

<gazebo>
<static>false</static>

<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
  <robotNamespace>\robotNamespace</robotNamespace>
  <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
  <legacyModeNS>true</legacyModeNS>
</plugin>
</gazebo>

• Where robotNamespace is the robot you are talking about

TODOs

nodes to be added

• Odom in global frame to use obstacle sensing
• work on steering mode
• more reliable controller for heterogeneous types nodes to be implemented
• explore_multirobot
• tree node