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TODO §

1. 如何使用光達
   1. 建圖
   2. 定位
2. 避障
   1. 路徑規劃 or 訓練
3. 模擬
   1. 匯入地圖檔
   2. 加入光達sensor

Guide §

• Import solidworks models into gazebo

  • Instruction - import solidworks model to gazebo

• Current progress

  • Github repo - car_simulation
    • display.launch to view the model in rviz
    • gazebo.launch to import the model to gazebo
    • diff_drive.launch try to control the wheels, bug exist

• Control the urdf model in gazebo

  • Instruction - gazebo official tutorial
  • Github repo - demo

• Use Skid Steering Plugin to control the four wheels

  • Video - 1 - Skid Steering Plugin
  • Video - 2 - Skid Steering Plugin

• Obstacle avoidance using DeepRL

  • Discourse - toolkit for Reinforcement Learning using ROS and Gazebo
  • Github repo - gym extension for using Gazebo
  • Instruction - DQN training in gym_gazebo

• Lidar in Gazebo

  • Instruction - Gazebo plugins

• Designate robot init position

  • Discourse - ROS answers

• Input custom mesh to the world

  • Instruction - gazebo official tutorial

• DQN training in Gazebo

  • Thesis - TRANSFERRING DEEP REINFORCEMENT LEARNING AGENT FROM VIDEO GAME TO A REAL ROBOT
  • Video - From Video Game to Real Robot
  • Instruction - Using Gazebo for Reinforcement Learning
  • Video - create custom gym-gazebo env

• Navigation stack

  • ROS.org - navigation
  • ROS.org - navigation/Tutorial
  • Instruction - 對於-navigation-stack-的基本了解
  • Instruction - [ROS#13]Navigation
  • Instruction - [ROS#8]SLAM & Navigation介紹
  • Youtube - ROS Navigation tutorial list

• If-else statement in xacro

  • Discourse - ROS answers

Bug fixes §

• Error :

  Received JointState is 1531129342.521295 seconds old

  • Solution :
    • Discourse - ROS answers

• Error :

  No p gain specified for pid.

  • Solution :
    • Discourse - ROS answers : setup controllers in xacro and yaml files
    • Instruction - gazebo tutorial : very detail
    • robotNamespace cannot be empty

    <gazebo>
    	<plugin
    		name="gazebo_ros_control"
    		filename="libgazebo_ros_control.so">
    	<robotNamespace>/car</robotNamespace>
    	</plugin>
    </gazebo>

• Error :

  Laser plugin does not scan

  • Solution :
    • Video - Using gazebo Laser Scan Plugin
    • Change the plugin name from libgazebo_ros_gpu_laser.so to libgazebo_ros_laser.so

• Error :

  “could not load model” in Rviz2

  • Solution :
    • Discourse - Fail to load mesh files
    • In CMakeLists.txt add “meshes” to install()

    install(
    DIRECTORY config description launch worlds meshes
    DESTINATION share/${PROJECT_NAME}
    )