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ASHESI UNIVERSITY COLLEGE THE MOLAM PROJECT: THE DESIGN OF A CONTEXT SPECIFIC NAVIGATION FRAMEWORK FOR A MOBILE ROBOT DANIEL NII TETTEY BOTCHWAY Dissertation submitted to the Department of Computer Science, Ashesi University College In partial fulfillment of Science degree in Computer Science APRIL 2013 ii Declaration I hereby declare that this dissertation is the result of my own original work and that no part of it has been presented for another degree in this university or elsewhere. Candidate’s Signature: ………………………………………………………………………………… Candidate’s Name : ………………………………………………………………………………… Date : ………………………………………………………………………………… I hereby declare that the preparation and presentation of the dissertation were supervised in accordance with the guidelines on supervision of dissertation laid down by Ashesi University College. Supervisor’s Signature: ………………………………………………………………………………… Supervisor’s Name : ………………………………………………………………………………… Date : ………………………………………………………………………………… iii Acknowledgements This dissertation would not have been possible without the guidance and the help of several individuals who in one way or another contributed and extended their valuable assistance in the preparation and completion of this project. First and foremost, my utmost gratitude goes to my supervisor and first robotics lecturer, Dr. G. Ayorkor Korsah whose insightful directions and assistance made this project a rewarding journey. I am truly grateful to Mr. Aelaf Dafla, Dr. Nathan Amanquah, Prof. Edwin Kay, and basically all the lecturers in the Computer Science Department for their immense contributions to shaping my mind. I would also like to thank my colleagues and friends in the Computer Science Class of 2013 for all their inspiration as we overcame all obstacles during the last four years. Last but not the least; I would like to thank my family and the one above all of us, the omnipresent God. Thank you so much, dear Lord, for answering my prayers and giving me the strength to plod on despite my constitution wanting to give up and throw in the towel. iv Abstract Ashesi University College recently acquired a TurtleBot1 robotic platform to experiment with service robotics on campus. This platform runs the Robotics Operating System (ROS)2 for developing robotics applications. This MOLAM project (Motion, Localization And Mapping) sought to build a fundamental framework that extends ROS functionalities on a TurtleBot to navigate autonomously around the Ashesi campus in Berekuso. The focus of this project was to extend the ROS enabled functionalities on the TurtleBot for mapping, localization and motion planning to create a customized navigation framework suited for the Ashesi University campus. Having such a foundation, other service applications, such as a waiter robotic system, a courier robotic system, a tour guide robotic system etc., can be built on this framework. This paper outlines the various tools and processes used in assembling and configuring this robotic system. It also delineates the challenges encountered in assembling and configuring this robotics system, as well as the “work-arounds” devised to solve these challenges. Finally, this paper proposes design concepts for future work in using the TurtleBot system as a Tour Guide Robotic System for Ashesi University College. 1 http://turtlebot.com/ 2 http://ros.org/ v Contents Declaration ................................................................................................ iii Acknowledgements ..................................................................................... iv Abstract ..................................................................................................... v Contents ................................................................................................... vi List of Figures ........................................................................................... viii List of Abbreviations ................................................................................... ix Chapter 1: Introduction ............................................................................... 1 1.1 Introduction ................................................................................... 1 1.2 Objectives ...................................................................................... 2 1.2.1 Setting Up ROS-TurtleBot .......................................................... 2 1.2.2 Mapping .................................................................................. 2 1.2.3 Localization .............................................................................. 3 1.2.4 Motion Planning ........................................................................ 4 1.2.5 Developer API .......................................................................... 4 1.2.6 Visualization Tool ...................................................................... 5 1.2.7 Additional Documentation .......................................................... 5 1.3 Scope ............................................................................................ 5 1.4 Motivation ...................................................................................... 6 Chapter 2: Background ................................................................................ 8 2.1 Technology .................................................................................... 8 2.1.1 TurtleBot ................................................................................. 8 2.1.2 Robotic Operating System (ROS) .............................................. 13 2.2 Related Work ................................................................................ 14 2.2.1 NXT-Kinect-SLAM .................................................................... 14 2.2.2 Minerva ................................................................................. 15 2.2.3 Relevance of the Related Work ................................................. 17 Chapter 3: System Design .......................................................................... 18 3.1 System Design Concept ................................................................. 18 3.2 Navigation Framework ................................................................... 21 3.2.1 Map Handlers and Storage ....................................................... 21 3.2.2 Localization and Navigation Tools .............................................. 25 3.2.3 Emergency Control Block ......................................................... 27 Chapter 4: Implementation and Testing ....................................................... 30 4.1 Robot Setup ..................................................................................... 30 4.1.1 Components Used ....................................................................... 31 vi 4.1.2 Ubuntu 12.04 (Precise) ............................................................ 31 4.1.3 Installation of ROS Groovy Galapagos ....................................... 32 4.1.4 Physical Setup ........................................................................ 34 4.2 Reconfiguration of ROS System Files ............................................... 35 4.2.1 Minimal File ............................................................................ 35 4.2.2 TurtleBot Dashboard File .......................................................... 35 4.2.3 TurtleBot Node File ................................................................. 35 4.2.4 Create Sensor Handler File ....................................................... 36 4.2.5 Python KDL Error Fix ............................................................... 36 4.3 Testing ........................................................................................ 37 4.3.1 Network Connection ................................................................ 37 4.3.2 System Recognition ................................................................ 37 4.3.3 Vision .................................................................................... 38 4.3.4 Visualization ........................................................................... 39 4.4 Challenges ................................................................................... 41 Chapter 5: Conclusion and Future Work ....................................................... 42 References ............................................................................................... 44 Appendix .................................................................................................. 46 A. Robot Setup Design .......................................................................... 46 A.1 Components Used ...................................................................... 46 A.2 Downloading Ubuntu 12.04 (Precise) ............................................ 46 A.3 Ubuntu Bootable Flash Drive ....................................................... 46 A.4 Installation of Ubuntu Precise ...................................................... 47 A.5 Installation of ROS Groovy Galapagos........................................... 47 A.6 Physical Setup ........................................................................... 50 B. Reconfiguration of ROS System Files .................................................. 51 B.1 Minimal File ............................................................................... 51 B.2 TurtleBot Dashboard File ............................................................. 52 B.3 TurtleBot Node File....................................................................
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