README

This is my ROSJect documentation!

Autonomous boat ROSJect based on diff drive robot!

Feel free to donate some money for some beers is you consider this useful!

To use this project, install:

• Ubuntu 20.04

• ROS2 foxy

To run this project, the following should be done:

Clone project in your ROS2 workspace

git clone https://github.com/Hercogs/boat_simulation_pkg.git

Build and source your workspace

colcon build && source install/setup.bash

Launch Gazebo world

source install/setup.bash && ros2 launch robot_boat_gazebo_pkg start_world.launch.py

Spawn robot in Gazebo world

source install/setup.bash && ros2 launch robot_boat_gazebo_pkg spawn_robot_ros2_utm.launch.py

Now you should see Gazebo world with fantastic boat

You can use following topics:

• robot_boat/cmd_vel (to control robot velocity)
• robot_boat/gps
• robot_boat/laser_scan (to get laser scan data)
• robot_boat/gps_utm (to get UTM coordinates)
• robot_boat/pose_p3d (to get robot pose for simulating compass in RVIZ)
• robot_boat/azimuth_north (compass topic)

To drive around manually with robot, execute folowing:

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=robot_boat/cmd_vel

To open rviz, go to folder robot_boat, use command:

rviz2 -d rviz.rviz

To launch the current UKF implementation, use command:

source install/setup.bash && ros2 launch filter_pkg ukf_node.launch.py

Problems

• Laser scan min dist is 1,2 meters