Robotics Project - a.y. 2021-2022

Robotics 2022 project at Politecnico di Milano.

Description

The project is divided in two parts, each part detailed specifications are described in the provided presentations. The project has been implemented in the C++ language and developed using ROS Melodic on Ubuntu 18.04.

The instructions to run the project are provided in the 'instructions.txt' files present in the 'project' folders.

The robot

Omnidirectional robot

• Mecanum wheels
  • 4 wheels with rollers at 45°
• Encoders on each wheel
  • RPM (very noisy)
  • Ticks (more accurate)
• Geometric parameters:
  • Wheel radius (𝑟)
  • Wheel position along x (±𝑙)
  • Wheel position along y (±𝑤)

Project 1

I. Compute odometry using appropriate kinematics

• Compute robot linear and angular velocities v, ⍵ from wheel encoders
• Compute odometry using both Euler and Runge-Kutta integration
  • ROS parameter for initial pose
• Calibrate (fine-tune) robot parameters to match ground truth

II. Compute wheel control speeds from v, ⍵

III. Add a service to reset the odometry to a specified pose (x,y,θ)

IV. Use dynamic reconfigure to select between integration method

Project 2

I. Write launch files to create the map

II. Write launch file to perform amcl based localization

III. Write service to save an image with the map and the trajectory of the robot

Group Members

• Marco Lacava
• Lorenzo Aicardi