RESULTS
OBJECTIVES
1. Develop CAD models for a new autonomous vehicle.
2. Develop and program new GAZEBO simulation models using ROS2.
3. V-model approach to test, verify and validate the program.
4. Conducting verifications and validations
OBTAINED RESULTS WITH RESPECT TO OBJECTIVES
Result-1
The CAD designs were made using Solidworks software. It makes designing the trolley simple on ROS2. The exploded view of CAD design will give a brief idea of what all components were used.
Results-2
The trolley then was programmed on ROS2-foxy and simulated on Gazebo. For the 2nd objective to be addressed, both programs for defining the trolley and simulating it has been coded.
This code defines the robot on ROS2
These images above show how trolley has been defined on ROS2
Gazebo program and simulations
This code launches the trolley on virtual environment designed.
The launched trolley in the virtual environment using the Gazebo simulator.
Result-3
The system approach that was drawn after the literature study was V- model approach. This approach has the ability to verify and validate the project by tracing back to stakeholders' requirements.
The approach helps in injecting the requirements and tracing them back to requirements by integrating it. Finally, these can be checked if the requirements are met by verification and validations.
Result-4
Verification and validations were conducted by showing the simulation to a group of 15 people and followed by a basic questionnaire.
The results were then plotted onto a graph to check the percentage of “Yes” and “No”. As we can see question 2 has no “No” responses because the track and virtual environment were always spawning. But the trolley was sometimes not spawning