Robotics-Turtlebot-Project

Honors Project for Robotics

Developers:

Mmasehume Raphiri (2089198)

Suraksha Motilal (2108903)

Fezile Mahlangu (2089676)

Install scipy: pip install scipy==0.16

To create map:

Always source devel/setup.bash

• Tab 1-

./startWorld

• Tab 2-

roslaunch turtlebot_gazebo gmapping_demo.launch

• Tab 3-

roslaunch turtlebot_rviz_launchers view_navigation.launch

• Tab 4-

(http://wiki.ros.org/kobuki/Tutorials/Examine%20Kobuki)

roslaunch kobuki_node minimal.launch --screen

• Tab 5-

roslaunch kobuki_keyop safe_keyop.launch --screen

Alter laser scan area in rviz

Saving map file

rosrun map_server map_saver -f <your map name>

This should generate a yaml and pgm

Running Instructions

To Run Motion Planning And Navigation

• In /robot_assignment_ws rm -r build
• Change script permisions chmod +x src/motion/scripts/*.py
• make catkin_make
• source source devel/setup.bash
• run ./startworld
• open a new tab cd /robot_assignment_ws/
• source source devel/setup.bash
• change dir cd src
• roscd into package
• (if this doesn't work try sourcing again or deleting the build file and running catkin_make again
• got to scripts cd scripts
• run controller and path planning rosrun motion control.py
• enter desired goal position. first input is x coordinate and second input is y coordinate Sample goals to try are (3.685,6.65), (-0.754 , 10.302)

To Run Motion Planning, Navigation And Cart Detection

• follow all the steps for running motion planning and navigation but before entering the goal open a position, open a new tab
• in the new tab
• cd /robot_assignment_ws
• source devel/setup.bash
• cd src/motion/scripts/
• rosrun motion colorcontrol.py
• rostopic echo witsdetector
• then go back to previous tab and proceed to enter goal position
• if the bot sees the cart anywhere while in motion it will print out yes to the terminal and no otherwise.

Incase a new package needs to be created

Create package using catkin_create_pkg beginner_tutorials std_msgs rospy roscpp