Sim2Real Development for Thymio with ROS

Example page: https://go.epfl.ch/ros_basics_final_2021

⭐ 2021/04: Update our project Report !

🔑 Keywords

Thymio, PID, Way following, Obstacle avoidance, Pledge algorithm, Aruco marker, Sim2Real, Gazebo

🔨 How to use?

• visualize Thymio in RViz

  roslaunch ros_basics_exercise thymio_simple_rviz.launch
  

• simulate Thymio robot in Gazebo with an interactive window

  roslaunch ros_basics_control simu_thymio.launch
  

• adding waypoints and obstacle for the robot

  roslaunch ros_basics_control simu_thymio.launch
  roslaunch ros_basics_exercise set_simu_waypoints_obstacle.launch
  

• tune with rqt tools (rqt_plot, rqt_reconfigrure, rqt_image_show)

  roslaunch ros_basics_control simu_thymio.launch
  roslaunch ros_basics_exercise tune_with_rqt.launch
  

• visualize the rosbag files

  roslaunch ros_basics_exercise view_with_rosbag.launch
  

• extract pose and sensor information from rosbag files

  roslaunch ros_basics_exercise view_with_rosbag.launch
  # open a new terminal
  rosrun ros_basics_exercise topic_reader.py
  

• plot trajectory comparison between real and simulation (using matlab)

  cd results_from_bag/
  # run `plot_traj_comp.m` in MATLAB
  

  

• connect to the real Thymio

  pip install thymiodirect
  roslaunch ros_basics_control real_thymio.launch
  

🎒Example rosbag files

rosbags can be downloaded from Google Drive

For more info, you can refer to readme.md in ./src/ros_basics_exercise/rosbags/ folder.

⭐ Acknowledgement

Thanks to Vaios Papaspyros and Rafael Barmak from MOBOTS at EPFL for the amazing course tutorials !