feat: updated README.md

README.md

@@ -1,7 +1,7 @@
 # ME5413_Planning_Project
 
 NUS ME5413 Autonomous Mobile Robotics Final Project
-> Authors: [Dongen](https://github.com/nuslde) and [Shuo](https://github.com/SS47816)
+> Authors: [Ziggy](https://github.com/ziggyhuang) and [Shuo](https://github.com/SS47816)
 
 ![Ubuntu 20.04](https://img.shields.io/badge/OS-Ubuntu_20.04-informational?style=flat&logo=ubuntu&logoColor=white&color=2bbc8a)
 ![ROS Noetic](https://img.shields.io/badge/Tools-ROS_Noetic-informational?style=flat&logo=ROS&logoColor=white&color=2bbc8a)
@@ -10,7 +10,7 @@ NUS ME5413 Autonomous Mobile Robotics Final Project
 ![GitHub Repo stars](https://img.shields.io/github/stars/NUS-Advanced-Robotics-Centre/ME5413_Planning_Project?color=FFE333)
 ![GitHub Repo forks](https://img.shields.io/github/forks/NUS-Advanced-Robotics-Centre/ME5413_Planning_Project?color=FFE333)
 
-![cover_image](src/me5413_world/media/gazebo_world.png)
+![cover_image](src/me5413_world/media/rviz_overview.png)
 
 ## Dependencies
 
@@ -29,6 +29,7 @@ NUS ME5413 Autonomous Mobile Robotics Final Project
   * `visualization_msgs`
   * `tf2`
   * `tf2_ros`
+  * `tf2_eigen`
   * `tf2_geometry_msgs`
   * `pluginlib`
   * `map_server`
@@ -38,15 +39,14 @@ NUS ME5413 Autonomous Mobile Robotics Final Project
   * `jackal_navigation`
   * `velodyne_simulator`
   * `teleop_twist_keyboard`
-* And this [gazebo_model](https://github.com/osrf/gazebo_models) repositiory
+  * dynamic_reconfigure
 
 ## Installation
 
 This repo is a ros workspace, containing three rospkgs:
 
-* `interactive_tools` are customized tools to interact with gazebo and your robot
+* `me5413_world` the main pkg containing the gazebo world, source code, and the launch files
 * `jackal_description` contains the modified jackal robot model descriptions
-* `me5413_world` the main pkg containing the gazebo world, and the launch files
 
 **Note:** If you are working on this project, it is encouraged to fork this repository and work on your own fork!
 
@@ -55,8 +55,8 @@ After forking this repo to your own github:
 ```bash
 # Clone your own fork of this repo (assuming home here `~/`)
 cd
-git clone https://github.com/<YOUR_GITHUB_USERNAME>/ME5413_Final_Project.git
-cd ME5413_Final_Project
+git clone https://github.com/<YOUR_GITHUB_USERNAME>/ME5413_Planning_Project.git
+cd ME5413_Planning_Project
 
 # Install all dependencies
 rosdep install --from-paths src --ignore-src -r -y
@@ -67,31 +67,6 @@ catkin_make
 source devel/setup.bash
 ```
 
-To properly load the gazebo world, you will need to have the necessary model files in the `~/.gazebo/models/` directory.
-
-There are two sources of models needed:
-
-* [Gazebo official models](https://github.com/osrf/gazebo_models)
-
-  ```bash
-  # Create the destination directory
-  cd
-  mkdir -p .gazebo/models
-
-  # Clone the official gazebo models repo (assuming home here `~/`)
-  git clone https://github.com/osrf/gazebo_models.git
-
-  # Copy the models into the `~/.gazebo/models` directory
-  cp -r ~/gazebo_models/* ~/.gazebo/models
-  ```
-
-* [Our customized models](https://github.com/NUS-Advanced-Robotics-Centre/ME5413_Final_Project/tree/main/src/me5413_world/models)
-
-  ```bash
-  # Copy the customized models into the `~/.gazebo/models` directory
-  cp -r ~/ME5413_Final_Project/src/me5413_world/models/* ~/.gazebo/models
-  ```
-
 ## Usage
 
 ### 0. Gazebo World
@@ -103,78 +78,46 @@ This command will launch the gazebo with the project world
 roslaunch me5413_world world.launch
 ```
 
-### 1. Manual Control
-
-If you wish to explore the gazebo world a bit, we provide you a way to manually control the robot around:
-
-```bash
-# Only launch the robot keyboard teleop control
-roslaunch me5413_world manual.launch
-```
-
-**Note:** This robot keyboard teleop control is also included in all other launch files, so you don't need to launch this when you do mapping or navigation.
-
-![rviz_manual_image](src/me5413_world/media/rviz_manual.png)
-
-### 2. Mapping
-
-After launching **Step 0**, in the second terminal:
-
-```bash
-# Launch GMapping
-roslaunch me5413_world mapping.launch
-```
-
-After finishing mapping, run the following command in the thrid terminal to save the map:
-
-```bash
-# Save the map as `my_map` in the `maps/` folder
-roscd me5413_world/maps/
-rosrun map_server map_saver -f my_map map:=/map
-```
-
-![rviz_nmapping_image](src/me5413_world/media/rviz_mapping.png)
-
-### 3. Navigation
+### 1. Path Tracking
 
-Once completed **Step 2** mapping and saved your map, quit the mapping process.
-
-Then, in the second terminal:
+In the second terminal, launch the path publisher node and the path tracker node:
 
 ```bash
 # Load a map and launch AMCL localizer
-roslaunch me5413_world navigation.launch
+roslaunch me5413_world path_tracking.launch
 ```
 
-![rviz_navigation_image](src/me5413_world/media/rviz_navigation.png)
+![rviz_tracking_image](src/me5413_world/media/rviz_tracking.png)
 
 ## Student Tasks
 
-### 1. Map the environment
+### Task 1 & 2: Path Planning
 
-* You may use any SLAM algorithm you like, any type:
-  * 2D LiDAR
-  * 3D LiDAR
-  * Vision
-  * Multi-sensor
-* Verify your SLAM accuracy by comparing your odometry with the published `/gazebo/ground_truth/state` topic (`nav_msgs::Odometry`), which contains the gournd truth odometry of the robot.
-* You may want to use tools like [EVO](https://github.com/MichaelGrupp/evo) to quantitatively evaluate the performance of your SLAM algorithm.
+* Please refer to the PDF file inside.
 
-### 2. Using your own map, navigate your robot
+### Task 3: Path Tracking
 
-* From the starting point, move to the given pose within each area in sequence
-  * Assembly Line 1, 2
-  * Random Box 1, 2, 3, 4
-  * Delivery Vehicle 1, 2, 3
-* We have provided you a GUI in RVIZ that allows you to click and publish these given goal poses to the `/move_base_simple/goal` topic:
+* Control your robot to follow the given **figure 8** track.
+  * You may use any algorithms you like.
+  * Implement your algorithms in the `src/me5413_world/include/me5413_world/path_tracker_node.hpp` and `src/me5413_world/src/path_tracker_node.cpp`, to replace our template code.
+  * Test your algorithms on the track & Report your tracking accuracy.
+
+* In the template code, we have provided you:
+  * A dumb **PID** controller for the throttle.
+  * A weird **Stanley** controller for the steering.
+  * However, both are not properly configured or tuned.
+
+* We have provided you a dynamic reconfigure GUI that allows you to tune some of the parameters:
 
-  ![rviz_panel_image](src/me5413_world/media/rviz_panel.png)
+  ![rqt_reconfig_image](src/me5413_world/media/rqt_reconfig.png)
 
-* We also provides you four topics (and visualized in RVIZ) that computes the real-time pose error between your robot and the selelcted goal pose:
-  * `/me5413_world/absolute/heading_error` (in degrees, wrt `world` frame, `std_msgs::Float32`)
-  * `/me5413_world/absolute/position_error` (in meters, wrt `world` frame, `std_msgs::Float32`)
-  * `/me5413_world/relative/heading_error` (in degrees, wrt `map` frame, `std_msgs::Float32`)
-  * `/me5413_world/relative/position_error` (in meters wrt `map` frame, `std_msgs::Float32`)
+* We also provides you six topics (and visualized in RVIZ) that computes the real-time errors between your robot and the tracking path:
+  * `/me5413_world/planning/abs_position_error` ([m], `std_msgs::Float32`)
+  * `/me5413_world/planning/abs_heading_error` ([deg], `std_msgs::Float32`)
+  * `/me5413_world/planning/abs_speed_error` ([m/s], `std_msgs::Float32`)
+  * `/me5413_world/planning/rms_position_error` ([m], `std_msgs::Float32`)
+  * `/me5413_world/planning/rms_heading_error` ([deg], `std_msgs::Float32`)
+  * `/me5413_world/planning/rms_speed_error` ([m/s], `std_msgs::Float32`)
 
 ## Contribution
 
@@ -188,4 +131,4 @@ We are following:
 
 ## License
 
-The [ME5413_Final_Project](https://github.com/NUS-Advanced-Robotics-Centre/ME5413_Final_Project) is released under the [MIT License](https://github.com/NUS-Advanced-Robotics-Centre/ME5413_Final_Project/blob/main/LICENSE)
+The [ME5413_Planning_Project](https://github.com/NUS-Advanced-Robotics-Centre/ME5413_Planning_Project) is released under the [MIT License](https://github.com/NUS-Advanced-Robotics-Centre/ME5413_Planning_Project/blob/main/LICENSE)