Turtlebot3 + RealSense D435 + Tunnel + Simple Navigation

This is my personal ROS practice example that put Turtlebot burger with Realsense D435 in a simple tunnel scene and applies a simple auto mode drive the turtlebot out of the tunnel itself.

I will describe how to import D435 into your own model/world because I found there are only few instruction about do so. For more models (e.g. D455), you can go to RealSense offical Github to find the urdf/xacro files and build the .so file yourself.

Configuration

Althoug the configuation should not be the problem, still I put them down below for those who would like to know.

OS: Ubuntu 20.04

ROS: noetic

Gazebo: 11

Install

1. install ROS and packages

   sudo apt-get install ros-noetic-desktop-full

   replace the 'noetic' to other version to be competitble to your pc

2. Download this repo

   # build your work space directories, e.g. `catkin_ws` in my example
   mkdir catkin_ws
   cd catkin_ws
   mkdir src
   cd src
   # clone the repo
   git clone 

3. Build the project

   cd ..
   catkin_make

   this will generate a librealsense_gazebo_plugin.so file to simulate D435 in Gazebo

Explanation

Packages

• beginner_tutorials: basic ROS operations e.g. node, topics, services

• realsense_gazebo_plugin: to generate RealSense sensor simulation plugin for Gazebo to use

• realsense2_description: RealSense sensor models

• robotcontrol: simple navigation codes. The original codes are from the first link in the reference.

• turtlebot3: turtlebot3 models

• turtlebot3_msgs: turtlebot3 messages

• turtlebot3_simulations: turtlebot3 simulation files (e.g. world models, .world, .launch)

Usage

💡 I kind of messed up the original turtlebot3 repos by modifying it directly, but it is still worth to play around with it 😛

Initial Setup

Link/Source the bulit project, replace catkin_ws with your workspace name:

cd catkin_ws
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bash

Setup Turtlebot default model to burger:

 echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc
 source ~/.bash

Launch the world

To launch the simulation that includes turtlebot3_burger + RealSense D435 + Tunnel

roslaunch turtlebot3_gazebo turtlebot3_tunnel.launch

Self-driving

First change the permission of the files

roscd robotcontrol/src
chmod +x *.py

1. Move the robot straight

   ./test.py

2. Move the robot to drive out of the tunnel

   ./self_drive.py

   Currently this script cannot be terminated, you have to close the terminal. ToBeFixed!

3. Reset the world

   ./reset.py

Import RealSense D435 into your model/wrold

1. To generate librealsense_gazebo_plugin.so file only, make sure realsense_gazebo_plugin repo is under /src and build it.

   cd ..   # to catkin_ws
   catkin_make
   # or use catkin tool to specify which pkg to build
   catkin build realsense_gazebo_plugin

   Then you will find the file under /catkin_ws/devel/lib
2. copy _d435.gazebo.xacro and _d435.urdf.xacro into /your_pkg/urdf where you want to simulate
3. in the file _d435.urdf.xacro change the line 13 from

   <xacro:include filename="$(find packagename)/urdf/urdf _d435.gazebo.xacro">

   to your package_name
4. In your model.urdf.xacro (turtlebot3_burgher.urdf.xacro in my example), put the following lines:

       <xacro:include filename="$(find packagename)/urdf/_d435.urdf.xacro" />
   ...
       <xacro:sensor_d435 name="camera" topics_ns="camera" parent="base_link" publish_pointcloud="true">
           <origin xyz="0 0 0" rpy="0 0 0" />
       </xacro:sensor_d435>

   and change your desired orginal pose related to base_link
5. In the launch file, don't forget to publish the tf tree for rviz to visualize

       <node pkg="robot_state_publisher" type="robot_state_publisher"  name="robot_state_publisher">
           <param name="publish_frequency" type="double" value="30.0" />
       </node>

   For more detailes, please check the files that related to burger model or the keyword tunnel under turtlebot3_simulations/turtlebot3_gazebo.

Velodyne

Check the READMEs in velodyne_plugin_tutorial and velodune_simulator for more details.

Resource

• tunnel cad file

Reference

• ROS系統控制自走車搭配點雲雷達(隧道檢測裝置) - 微醺咖啡

• Gazebo Tutorial

• turtlebot3

• turtlebot3_msgs

• turtlebot3_simulations

• realsense2_description - issaiass

• realsense_gazebo_plugin - pal-robotics

• velodyne_simulator

Contact Info

If you have any question please don't hesitate to contact me:

Wen-Yu Chien: [email protected]

LinkedIn

Gitpage