TrailerBot ROS Coppeliasim (Tele Op)

SLAM of Trailer based Autonomous Ground Vehicle using ROS and Coppeliasim

System Dependencies

• Ubuntu : 16.04+
• ROS : Kinetic+
• CPU : ARM7+ or Intel i3+ or AMD R4+
• RAM : 4GB+
• Memory : 10GB+

Dependencies

• sudo apt install ros-noetic-geographic-msgs
• sudo apt install ros-noetic-turtlebot3-msgs
• sudo apt install ros-noetic-control-msgs
• sudo apt install ros-noetic-octomap-server
• sudo apt install ros-noetic-move-base
• sudo apt install ros-noetic-dwa-local-planner
• sudo apt install ros-noetic-global-planner
• sudo apt install ros-noetic-map-server
• sudo apt install ros-noetic-explore-elite
• sudo apt install xterm

steps to runs

note Run the scripts in the following sequence

• Terminal 1 -

  • source ~/<YOUR_FOLDER_NAME>/devel/setup.bash
  • roscore

• Terminal 2 -

  • source ~/<YOUR_FOLDER_NAME>/devel/setup.bash
  • cd Coppeliasim/
  • ./coppeliasim.sh (launches coppelia sim)
  • load the scene from ~/<YOUR_FOLDER_NAME>/src/coppeliasim_ws/vrep_scenes/

• Terminal 3 -

  • source ~/<YOUR_FOLDER_NAME>/devel/setup.bash
  • roslaunch coppeliasim_ws teleop.launch

• Terminal 4 -

  • source ~/<YOUR_FOLDER_NAME>/devel/setup.bash
  • roslaunch coppeliasim_ws mapping.launch

• Terminal 5 -

  • source ~/<YOUR_FOLDER_NAME>/devel/setup.bash
  • rviz
  • load tf, map and laser topic