# TrackedRobotSimulation

**Repository Path**: HeGang80/tracked-robot-simulation

## Basic Information

- **Project Name**: TrackedRobotSimulation
- **Description**: This is a repo for simulation of the tracked robot.
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2023-05-29
- **Last Updated**: 2023-08-05

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

#### Tracked Robot Simulation

## Introduction

It is a Gazebo Simulation repo of tracked robot. The repo mainly contains 3 repos (LTU-RAI/gazebo_cave_world, ntnu-arl/gbplanner_ros, linzs-online/robot_gazebo). We developed the algorithm for tracked robots. In 3d environment, the robot carry out SLAM, autonomous motion planning and navigation.

In addition, we use a depth camera to fill the blind area of lidar, to enable the robot to climb the invisible nagetive slope.
    
![Tracked Robot](https://gitee.com/HeGang80/tracked-robot-sim/raw/master/src/files/3-16.png)

## Install

1. clone into ws/src, and catkin build.

2. if some dependencies are missed during building, install it. Most of them may be solved by `sudo apt-get install ros-{rosVersion}-{missedDependency}`.

3. Clone the repo(`https://gitee.com/HeGang80/lvisam_octomap`) to another workspace, and compile.

## Using

1. Open a terminal,
    ```
    roslaunch octomapping track_sim.launch
    ```

2. Open another terminal,
    ```
    roslaunch gbplanner trackedSim.launch
    ```

3. There are two ways to control robot(auto-move and keyboard-control).  

    check the controller part of trackedSim.launch in gbplanner2_ws/gbplanner/launch/smb
    ```
    auto-move for:  <include file="$(find smb_path_tracker)/launch/pure_pursuit_tracker.launch"/>

    keyboard-control for:  <include file="$(find smb_path_tracker)/launch/keyboard_controller.launch"/> 
    ```

4. To make a comparision with dsvp(https://www.cmu-exploration.com/dsv-planner), install the pkg
    ```
    roslaunch vehicle_simulator compare.launch (in which the gazebo is disabled)
    roslaunch gbplanner paper_gazebo_world.launch (using our world)
    roslaunch gbplanner methods_compare.launch
    ```
    or
    ```
    roslaunch vehicle_simulator compare.launch (in which the gazebo is disabled)
    roslaunch gbplanner paper_gazebo_world.launch (using our world)
    roslaunch dsvp_launch explore_garage.launch
    ```


## Issues known by now

1. add octomap plugin into Rviz.

2. ERROR: "/usr/lib/python2.7/xml/etree/ElementTree.py"  
    ```
    https://blog.csdn.net/nownow_/article/details/122061708
    ```