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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