Autonomus Wheelchair

In this repo we did SLAM using gmapping, autonomus naviagtion and obstacle avoidance using move_base and localization using amcl.

visit following for detailed elaboration

gazebo

Navigation stack

gmapping

Packages

• wheelchair_description: consist of wheelchair model and launch files

• wheelchair_simulation: consist of all gazebo worlds and launch files

• wheelchair_control: consist of saved setting of motor driver and kangaroo conroller

• wheelchair_cartographer: consist of mapping configurations and launch files

• wheelchair_navigation: consist of navigation parameters and launch files

wheelchair_description

I.To view robot model in Rviz use:

$ roslaunch wheelchair_description display.launch

II.To view robot model in Gazebo use:

$ roslaunch wheelchair_description gazebo.launch

wheelchair_simulation

I.To launch any of the gazebo world use

$ roslaunch wheelchair_simulation hospital_world.launch

II. To perform teleop operation on wheelchair in gazebo use

$ rosrun wheelchair_simulation robot_teleop_key

wheelchair_cartographer

I. To make map of the world using cartographer use:

$ roslaunch wheelchair_cartographer gampping.launch

II. To save the map of the world use:

$ rosrun map_server map_saver -f ~/map_name

wheelchair_navigation

I. To perform navigation in any of the world launched and mapped earlier use:

$ roslaunch wheelchair_navigation hw_robot_navigation.launch

II. To perform navigation using natural language processing use:

$ rosrun wheelchair_navigation Voice_NLP

$ rosrun wheelchair_naviagtion talker

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