ON GOLF CART FRAME USING GAZEBO
By Harold Prajitno
11401024
BACHELOR’S DEGREE in
MECHANICAL ENGINEER – MECHATRONICS CONCENTRATION FACULTY OF ENGINEERING & INFORMATION TECHNOLOGY
Revision After Thesis Defense on 14th July 2020
SWISS GERMAN UNIVERSITY The Prominence Tower
Jalan Jalur Sutera Barat No. 15, Alam Sutera Tangerang, Banten 15143 - Indonesia
July 2020
Harold Prajitno STATEMENT BY THE AUTHOR
I hereby declare that this submission is my own work and to the best of my knowledge, it contains no material previously published or written by another person, nor material which to a substantial extent has been accepted for the award of any other degree or diploma at any educational institution, except where due acknowledgement is made in the thesis.
Harold Prajitno
_____________________________________________
Student Date
Approved by:
Dr. Rusman Rusyadi
_____________________________________________
Thesis Advisor Date
Dr. Maulahikmah, S.Kom., M.Sc.
_____________________________________________
Dean Date
Harold Prajitno ABSTRACT
AUTONOMOUS MOBILE ROBOT BASED ON GOLF CART FRAME USING GAZEBO
By Harold Prajitno
Dr. Rusman Rusyadi, Advisor
SWISS GERMAN UNIVERSITY
Robotics is one of the most important aspect in the industry, they are the driving force for modern day production. With the advancement of robotics there are also a lot of method to create and develop robots. Robotics are usually created from mathematical calculations by deriving kinematics to be able to have a proper working robot. With more complex robots that have been created, mere calculation by hand will become even harder to compute and understood. To combat the increasing difficulty of creating these robots, there are a lot of robotic simulation tools that have been created to be able to create and understand these robots. This research is to create one of these robots so that creating a real version of the robot will be much simpler.
Keywords: Robotics, Gazebo, Simulation
Harold Prajitno
© Copyright 2020 by Harold Prajitno All rights reserved
Harold Prajitno DEDICATION
I dedicate this works for my family, advisor, lecturers and my friends.
I dedicate this work to be able to understand more in the programming world.
Harold Prajitno ACKNOWLEDGEMENTS
I would like to thank all the people who have helped guided me in writing this thesis.
I am mostly grateful to my advisor, Dr. Rusman Rusyadi for supporting and helping me throughout the creation of this research.
I also thank all my lecturers for providing me the knowledge necessary to understand the solution to the problems that I face.
I am also grateful to my family for supporting me the whole way to be able to finish this research.
Harold Prajitno TABLE OF CONTENTS
Page
STATEMENT BY THE AUTHOR ... 2
ABSTRACT ... 3
DEDICATION ... 5
ACKNOWLEDGEMENTS ... 6
TABLE OF CONTENTS ... 7
LIST OF FIGURES ... 9
CHAPTER 1 - INTRODUCTION ... 10
1.1 Background ... 10
1.2 Research Problem ... 11
1.3 Objectives ... 11
1.4 Significance of study ... 11
1.5 Research question ... 11
1.6 Hypothesis ... 11
CHAPTER 2 - LITERATURE REVIEW ... 12
2.1 Theoretical Perspectives ... 12
2.1.1 Robotics simulation... 12
2.1.1.1 Gazebo ... 12
2.1.1.2 Dart ... 12
2.1.1.3 Webot ... 13
2.1.2 Robotics ... 13
2.1.2.1 Kinematics ... 14
2.1.2.2 Forward kinematics ... 15
2.1.2.3 Inverse Kinematics ... 16
2.1.2.4 Sensors ... 18
2.1.2.4.1 Light Detection and Ranging (LIDAR)... 18
2.1.2.4.2 Global Positioning System (GPS) ... 18
2.2 Implementation Review ... 19
2.2.1 Golf cart prototype development and navigation simulation using ROS and Gazebo 19 2.2.2 Design of an Ackermann Type Steering Mechanism ... 22
CHAPTER 3 – RESEARCH METHODS ... 25
Harold Prajitno
3.2 Gazebo setup ... 25
3.3 Make sure RVIZ work in the system ... 25
3.4 Create own program based on the frame ... 26
3.5 Test golf URDF ... 26
3.5.1 Geometry ... 28
3.5.2 Kinematics ... 29
3.5.3 Running the initial simulation ... 30
3.6 Create world ... 30
3.6.1 Create mapping of the new world ... 31
3.7 Sensors ... 32
3.7.1 Adjusting and adding the LIDAR sensors ... 32
3.7.2 Adding IMU sensor ... 35
3.7.3 Add GPS sensor ... 35
CHAPTER 4 – RESULTS AND DISCUSSION ... 37
4.1 Test Sensors ... 37
4.1.1 Test LIDAR ... 37
4.1.2 Test IMU ... 38
4.1.3 Test Camera ... 38
4.1.4 Test golfcart odometry ... 39
4.2 Mapping ... 40
4.3 Navigation ... 40
4.3.1 Use robot navigation stack ... 40
4.3.2 Run world with the robot and test navigation capability in the map ... 40
4.3.3 Testing GPS ... 42
CHAPTER 5 – CONCLUSIONS AND RECCOMENDATIONS ... 43
5.1 Conclusions ... 43
5.2 Recommendations ... 43
GLOSSARY ... 44
REFERENCES ... 45
CURRICULUM VITAE ... 46
Harold Prajitno LIST OF FIGURES
Figures Page
Figure 1. Representation of the forward kinematics (Hooper) ... 15
Figure 2. Representation of the inverse kinematics (Hooper)... 16
Figure 3. Example inverse kinematics problem (Hooper) ... 17
Figure 4 The full-scale golf cart simulation model in Gazebo... 20
Figure 5 The model of simulated golf cart with sensors and ground relief simulation. ... 20
Figure 6 Simulation of a golf cart navigation from one golf hole to another in a virtual golf course environment in Gazebo. ... 21
Figure 7 Ideal Ackermann turning geometry. ... 22
Figure 8 Trace of a four-bar linkage. ... 23
Figure 9 Ideal steering mechanism for Ackermann turning geometry ... 23
Figure 10 The dimension of the golfcart ... 29
Figure 11 The kinematics of some of the parts ... 30
Figure 12 The golfcart frame running in gazebo ... 30
Figure 13 The world created with the Gazebo software ... 31
Figure 14 Controlling the MIR robot with the built in controller... 31
Figure 15 RVIZ data scanned from the MIR robot LIDAR ... 32
Figure 16 The command used to save the scanned data of the robot ... 32
Figure 17 Adding the visualization of the sensor for gazebo ... 33
Figure 18 Velodyne sensor added to the robot ... 33
Figure 19 Adding the laser sensor parameter ... 34
Figure 20 The new laser sensor in gazebo ... 34
Figure 21 The visualization and the parameter of the IMU ... 35
Figure 22 The software code for the gps ... 36
Figure 23 Running the robot in gazebo with LIDAR ... 37
Figure 24 The IMU data from rostopic ... 38
Figure 25 Location of the camera ... 38
Figure 26 Camera data from rviz ... 39
Figure 27 The Odom data from rostopic ... 39
Figure 28 Mapping with the LIDAR ... 40
Figure 29 Loading the golfcart in the map ... 41
Figure 30 The simulation running in rviz ... 41
Figure 31 Path finding in rviz ... 42
