MICRO-453 Robotics practicals, EPFL, 2021 Spring

Students: Chuanfang Ning, Jianhao Zheng, and Yujie He

Table of Contents

🔑 Keywords

Thymio, PID, Way following, Obstacle avoidance, Pledge algorithm, ArUco marker, Sim2Real, Gazebo

📷 Example videos

For more examples, please refer to https://go.epfl.ch/ros_basics_final_2021.

🔨 How to launch the example code?

For more details, please refer to hibetterheyj/EPFL_ROS_Practicals_Project.

• simulate Thymio robot in Gazebo with an interactive window

  roslaunch ros_basics_control simu_thymio.launch

• adding waypoints and obstacle for the robot

  roslaunch ros_basics_control simu_thymio.launch
  roslaunch ros_basics_exercise set_simu_waypoints_obstacle.launch

• extract pose and sensor information from rosbag files

  roslaunch ros_basics_exercise view_with_rosbag.launch
  # open a new terminal
  rosrun ros_basics_exercise topic_reader.py

• plot trajectory comparison between real and simulation (using matlab)

  cd results_from_bag/
  # run `plot_traj_comp.m` in MATLAB

⭐️ Acknowledgement

Thanks to Vaios Papaspyros and Rafael Barmak from MOBOTS at EPFL for the amazing course tutorials !