Simple ROS program to run around a rectangular space, while avoiding walls.
Learn and practice Python
Learn and practice ROS Concepts
Experience the fact that there’s noise in the sensors
What to do
The iRobot ROOMBA is a vaccum cleaner. It moves in straight lines in a room until it comes to a wall or obstacle. At this point it stops and rotates in place for some number of degrees. And then it takes off again until it hits another obstacle.
You will be writing a ROS node to exhibit this behavior
Initially write and test in simulation (using Gazebo)
Then test in a live robot
The challenge is first, just getting it to work
Write a new program which has a robot drive through an area surrounded by walls, and act something like a variation on a roomba.
It drives around until it comes close to an obstacle, rotates in place, and continues in a new direction.
It’s not immediately clear how much to rotate: should it rotate some amount each time or should the amount of rotation vary randomly?
You can elaborate this any way you like.
The challenge beyond just getting it to work, is to make sure it doesn’t get stuck somewhere. See how robust you can make it
Source code for your solution, zipped up
A pdf document explaining your solution in as much or as little detail as you like
A short video demonstration of your solution, as if you were showing it to a friend.
List of lectures
Selection of key papers
Schedule of Papers
Robotics and ROS
2: ROS at a high level
6: Robots and Simulators
7: Wander Bot
9: Building Maps
11: Chess Bot
12: Follow Bot
Brandeis Robotics Network
Guidelines to Charging Lipos
Reports from previous Generations