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EG2310 Group 9 Code

These repo includes different algorithms for mapping using lidar on Turtlebot. R7auto_nav implements the code that was used in the demo and integrated the firing mechanism.

R2auto_nav is implements basic unmapped area detected, R3 and R4 are duplicates of R2. R5 attempts to implement breath first search and has worked in gazebo but not on actual map. R6 and R7 implements wall following algorithm. R6 takes the turtlebot as the front when moving forward while R7 takes the payload as the front.

Information about the turtlebot3 burger used can be found here.

Installation can be found here (Make sure to click on Foxy tab).

Getting Started

  1. Under ~/colcon_ws/build/auto_nav, do git clone https://github.com/ideasxiang/r2auto_nav.git
  2. Connect to Wifi hotspot
  3. SSH into turtlebot using sshrp
  4. Run rosbu in terminal connected to Turtlebot
  5. Run rslam in another terminal
  6. Open another terminal and sshrp
  7. Copy the code for fly_sub3.py onto the rpi on Turtlebot and edit the port connected to thermal sensor (See below to find the port used)
  8. Run python3 fly_sub3.py in the same terminal
  9. Open another terminal and sshrp
  10. Copy the code for fly_pub3.py onto the rpi on Turtlebot and edit the port connected to thermal sensor (See below to find the port used)
  11. Run python3 fly_pub3.py in the same terminal
  12. In a new terminal, cd ~/colcon_ws and do colcon build (Ensure that installation for Turtlebot3 Foxy is done)
  13. ros2 run auto_nav r7auto_nav to run the wall following algorithm (Ensure in the folder auto_nav that setup.py has correct code)
  14. Voilà you are done

Checking USB port used for infrared sensor

  1. Connect MLX90614 evaluation board with FTDI Basic Breakout to rpi on turtlebot using USB cable
  2. Open terminal in ubuntu
  3. sudo apt-get install minicom
  4. dmesg | grep tty
  5. Note the tty port used e.g. ttyUSB1

Editing Infrared sensor threshold value in r7auto_nav

  1. Open r7auto_nav.py file
  2. Search for threshold = float(ambient_temp) + 0.5
  3. Change it to threshold = float(ambient_temp) + 1.0 or whichever value
  4. Run cd ~/colcon_ws
  5. Run colcon build