A Novel Control and Monitoring Interface Design for ROS Based Mobile Robots
Abstract
In this study, an interface design was carried out in order to provide convenience to the user in the control and monitoring of the Robot Operating System (ROS) based autonomous mobile robot (AMR). Qt Designer and Python were used in the interface design. Thanks to the designed interface, autonomous and manual control of AMR was provided. Using the gmapping algorithm, the environment in the virtual world was mapped and transformed into a picture in .png format and visualized in the interface. The location information from the ROS was transferred to the said picture and the instant tracking of the AMR was done via the interface. It was shown which algorithm is used locally and globally at that moment. While in autonomous mode, the vehicle was provided to move to the previously recorded point. The total distance and time spent by the AMR while moving between two points were also calculated by the interface. The location (x, y, z) and orientations (x, y, z, w) of the previously recorded station were monitored from the stop list. On the other hand, the position (x, y, z) and orientation (x, y, z, w) information of the AMR could be followed as real time via the interface. In this way, when the AMR reaches the goal station, the time elapsed between two points, the transportation distance, settlement information such as the location and orientation of the vehicle can be tracked and be compared via the interface.
Keywords
AMR, GUI, Path Planning, PyQt
Supporting Institution
Sakarya Uygulamalı Bilimler Üniversitesi, Bilimsel Araştırma Projeleri Koordinatörlüğü, TÜBİTAK
Project Number
BAP(075-2022), TUBITAK 2244 (118C142 )
Thanks
This study was obtained from the PhD project of SUBU, numbered 075-2022, named "Path Planning with Meta-Heuristic Algorithms in Autonomous Mobile Robots and Designing a New Mobile Robot" supported by BAP. It was also supported within the scope of TUBITAK-2244 project numbered 118C142.
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