MacBot - Autonomous Robot ROS Stack

If you are looking for detailed documentation, check the Wiki.

macbot_description

Contains RViz configuration files, URDFs, and meshes. Textured and textureless variants. Textureless variant does not have sensors attached.

macbot_gazebo

Package for Gazebo Simulations. Contains world and their model files. Script for killall Gazebo launch.

Models

• maze
• maze_short_textured
• maze_textured

Launch

• default.launch - Main launch file for launching Gazebo and RViz
  • model (default: robot_textured), robot_texturesless
  • world (default: empty), maze, contact_stability
  • rviz_config (default: sensors), mapping, navigation, robot
• teleop.launch - Keyboard teleop controls for driving the robot around

roslaunch macbot_gazebo default.launch world:=maze rviz_config:=navigation

macbot_navigation

Navigation package utilizing ROS navigation stack. Contains configuration / parameter files for move_base package and maps. Launch files with _macbot are specific for the actual robot. The ones without are used for Gazebo simulated environments.

Maps

• enviro (mapped environment from ydlidar)
• gmap_map (maze)

Launch

• amcl_macbot.launch
  • map_arg (default: enviro)
• amcl.launch
  • map_arg (default: gmap_map)
• gmap_macbot.launch
• gmap.launch
• localization.launch
  • map_arg (default: gmap_map)

macbot_physical

Physical package for interfacing with the MacBot.

Launch

• diff_drive.launch - diff_drive node required for driving MacBot.

Nodes

• macbot_node.py - Communicating with the various nodes on the CAN bus.
• tf_broadcaster.py - Broadcasting the transforms of the left and right motorized wheels.

macbot_sensors

Package for launching one of the various sensors on the MacBot.

Launch

• camera.launch - Intel RealSense
• lidar.launch - ydlidar
  • pub_tf (default: false) - Publishes the TF link between odom and base_link.
• sensors.launch - Launch all sensors

Nodes

• pose_odom.py - Publishes nav_msgs/Odometry messages from geometry_msgs/PoseStamped messages outputted by laser_scan_matcher