GlobalDrive

GlobalDrive Is a ROS2 project that simulates the motion of a differntial drive robot, all the way from planning to control.

This Project leverages the existing turtlebot3 waffle gazebo simulation setup, inorder to streamline the process.

for more details regarding architecture, algorithmn selection, etc. please refer to THEORY.md

Project status :

path_smoothening : implemented quinitc hermite spline
trajectory_generation : done alogn with quintic hermite spline
trajectory_tracking_controller : implemented LPV MPC for trajectory tracking
obstacle_avoidance : tried implementing CBF (C3BF to be exact) - incomplete
test_generation : have 3 test codes to test the algorithmns here

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Project requirements

#	Requirement	Description	Installlation guide	notes
1	ROS 2 Humble (or later)	Provides the middleware, colcon build tooling, and message runtime.	Install ROS 2 Humble
2	GZ harmonic	Needed for running turtlebot3 waffle world simulations.	install GZ harmonic (source install for humble)	Additionally also install the ros depencies for gz harmonics, eg ros-gz-bridge, etc.
3	TurtleBot3 packages	Supplies robot description, navigation stacks, and launch files.	follow steps mentioned below
4	Python 3.10+	Used for control, planning scripts, and utilities.	- default -
5	cvxpy	Needed for running convex optimisation for the mpc controller.	pip install cvxpy
6	numpy 2.0+	This is used to handle the matrices and its operations.	pip install numpy
7	plotly	used for visualising the results and other graphs directly (can be used for recreating the graphs presented).	pip install plotly
8	RViz (2)	Normally installed alongside with ROS2	follow ros2 installation guide for rviz.

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Installation

1). Create a workspace for the project and cd into it

mkdir globalDrive
cd globalDrive

2). clone the src folder.
[note the turtlebot setup and will be done in the next step.]

#inside globalDrive
git clone https://github.com/AkshayArjun/globalDrive.git

3). next inside src run

 git clone -b new_gazebo https://github.com/azeey/turtlebot3_simulations.git
 # this installs the turtlebot for gz sims

4). in your root directory run

colcon build --packages-selct gDrive --symlink-install
colcon build --packages-select turtlebot3_simulations --symlink-install

source install/setup.bash

5). run rosdep to handle all dependencies

usage:

mission planning

Inside gDrive package find the file name mission.csv under /gDrive/resources use this file to add the waypoints to the global planner

running the simulation

#simply use the launch file : 
ros2 launch gDrive simulation.launch.py 

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results

[NOTE] after every run , a file mission_result.html is made in the home directory

Spline generation :

Lpv - mpc controller output :

1). Straight line:

2). Square:

3). ZigZag:

4). Random set of points:

[comment: It should be noted that the controller isn't best tuned and further tunign can improve the performance ]

Demo video :

click here for the demo run video

License

This project is licensed under the GNU GPL v3 LICENSE