README

This repository is maintained by IIT Mandi Mars Rover Team: Team Deimos. The goal is to simulate all the missions of the University Rover Challenge. The team has started this on Gazebo and might move to IssacSim in the future.

File Structure

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The workspace has 4 packages as of now.

• full_rover_assembly_urdf: Simulation of Rover assembly, contains URDF of the rover with gazebo plugins, launch files, and relevant configurations.

• realsense_gazebo_plugin: Plugin provided by Pal-Robotics to simulate intel realsense

• realsense2_description: Example files by pal-robotics on how to use plugins

• rviz_satelite: Package to visualize GPS data in rviz.

  Reference:

  ROS Index

Instructions for ROS installations

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1. ROS noetic is being used with Gazebo 9, Ubuntu 20.04 LTS

2. ROS installation: http://wiki.ros.org/noetic/Installation/Ubuntu

   Desktop-Full Install: (Recommended): Installs Gazebo as well

3. Official Gazebo tutorials: https://classic.gazebosim.org/tutorials

How to build the packages?

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mkdir -p catkin_ws/src
cd catkin_ws/src
git clone https://github.com/Team-Deimos-IIT-Mandi/Gazebo-Simulation.git
cd ..
catkin build

• For any errors related to the path, make sure the paths are corresponding to your workspace.

  Example: Replace the path of mesh files in world files corresponding to your workspace.

Gazebo simulations

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For spawning the robot along with GPS visualization and rqt_robot_steering

roslaunch full_rover_assembly_urdf diff_drive.launch

For spawning the robot in a Mars-like environment( taken from IITBMartian/ gazebo-simulation)

roslaunch full_rover_assembly_urdf gazebo.launch

Examples of Simulation

Packages utilized

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• gazebo_ros_control: http://gazebosim.org/tutorials?tut=ros_control Implement differential control on the rover.
• rqt_robot_steering: http://wiki.ros.org/rqt_robot_steering Gives a pre-made User Interface for publishing cmd_vel
• rviz_satelite:https://index.ros.org/p/rviz_satellite/#noetic for UI to control rover movement
• Realsense_Gazebo_Plugin: For simulating Realsense on the rover

Citations

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Realsense Simulations

https://github.com/issaiass/realsense2_description

IITB Martian/Gazebo-Simulation:

https://github.com/iitbmartian/Gazebo_simulation

Further work

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1. Use Navsat_transform node and robot_localization for GPS-based localization
2. Implement RTAB-MAP for mapping and localization.
3. Simulate Aruco- detection and Spiral Search algorithm for autonomous navigation of Rover

Contributors:

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Anurag Maurya

How to contribute?

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Create an issue or comment on an existing issue giving details of your approach to fix the issue.

You will be assigned to the issue by a maintainer.

Make the best use of GitHub Conversations.

For any queries, you can also reach out to the email ID: robotronics@iitmandi.ac.in

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