CHAPTER 5

EXPERIMENTAL RESULTS OF THE SYSTEM

The experimental results of the system are described in this chapter. Arduino
Mega, 12V 320 RPM Motor, Rplidar and Ubuntu OS base laptop are used in the
proposed system. And then, the test results of the proposed system are also presented
with the different photographs. The following sections are explained by the test and
results of the proposed system.

5.1 Experimental Results of the Proposed System

When the robot run “driver.lunch” program and “twist.lunch” program are run
use ROS command “roslaunch” .and run RVIZ simulations software to see the map
and command a location to move the robot.

Figure 5.1. “driver.lunch” Program Run Condition

If there is no arduino connection found, “Start Serial Communication” isn’t
show and program cannot be continued. Figure 5.1. show the running state of
“driver.lunch” program,
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Figure 5.2. “driver.lunch” Program Error Condition

Figure 5.3. “twist.lunch” Program Run Condition

If there is no lidar connection found, “odom received” isn’t show and program
cannot be continued. Figure 5.2. is error state of the driver.lunch program and figure
5.3. is the running state of the “twist.lunch” program.
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Figure 5.4. “twist.lunch” Program Error Condition

After running the above program open RVIZ to show map and command to
move the robot.

Figure 5.5. “RVIZ Application Run Condition

Figure 5.4. is error state of the “twist.lunch” program and figure 5.4. is the
running state of the map program.
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5.2 Program Writing of Proposed System

In the ROS system program are write by C++, Python and XML languages.

Figure 5.6 XML Language Use “.lunch” Program

Figure 5.7 C language Use Driver Program