Library-Book-Guide

Introduction

The goal of this project is to provide high-quality book navigation within the B300 space of the main library at Shanghai Jiao Tong University. This project utilizes laser SLAM to capture terrain information of the library and places a mobile phone on a cart to receive signals from Bluetooth base stations, aligning the data to ensure reliable information for navigation.

Laser SLAM

SLAM is based on RPLIDAR A1. When the cart is performing SLAM, ensure all related nodes are activated.

• Hector SLAM is used in this project. Follow these steps to configure and run Laser SLAM:

cd ~/Autonomous-Ball-Pick-up-Car/workspace
catkin_make
source /opt/ros/melodic/setup.bash
source devel/setup.bash
sudo chmod 666 /dev/laser
roslaunch rplidar_ros rplidar_slam.launch

• Cartographer is also applied for better performance. When using Cartographer, three terminal windows are required:

# Terminal 1
cd ~/Autonomous-Ball-Pick-up-Car/workspace
catkin_make
source /opt/ros/melodic/setup.bash
source devel/setup.bash
sudo chmod 666 /dev/laser
roslaunch rplidar_ros rplidar.launch

# Terminal 2
cd ~/Autonomous-Ball-Pick-up-Car/cartographer_workspace
./carto_slam.sh

# Terminal 3
cd ~/Autonomous-Ball-Pick-up-Car/cartographer_workspace
./map_save.sh

# Once the map is successfully saved, quit all terminals.

Keyboard Control

The chassis is controlled by an ESP32-S3 board. To control movement using a keyboard, follow these steps:

1. Burn controlled_move.ino into the ESP32-S3 board.
2. Open the serial monitor and set the baud rate to 115200.
3. Use the following keys to control movement:
   • w: Move forward
   • a: Turn left
   • s: Move backward
   • d: Turn right
   • x: Stop

Navigation

A customized local planner is applied for the navigation stack. Follow these steps:

roslaunch point_to_point_nav point_to_point_nav.launch

# Use 2D pose estimate to calibrate the initial position.

# Use 2D Nav Goal to set the destination.

Trajectory Tracking

To integrate with the phone, the position of the cart is recorded with a timestamp. Follow these steps:

roslaunch point_to_point_nav nav_with_position_record.launch

This will log the position data into a CSV file, allowing synchronization with other devices or systems.