Week-1-8-Cognitive-robotics

Machine learning based line following using TurtleBot3 with ROS2 Jazzy and Gazebo Harmonic

Dependencies

https://github.com/MOGI-ROS/DynamixelSDK/tree/humble-devel https://github.com/MOGI-ROS/turtlebot3_msgs/tree/ros2 https://github.com/MOGI-ROS/turtlebot3/tree/mogi-ros2 https://github.com/MOGI-ROS/turtlebot3_simulations/tree/new_gazebo

Dynamixel SDK if problem with module em uninstall existing em and install this version pip install empy==3.3.4 ros2/rosidl#779 pip install lark sudo apt install ros-jazzy-hardware-interface sudo apt install ros-jazzy-nav2-msgs sudo apt install ros-jazzy-nav2-costmap-2d sudo apt install ros-jazzy-nav2-map-server sudo apt install ros-jazzy-nav2-bt-navigator sudo apt install ros-jazzy-nav2-bringup sudo apt install ros-jazzy-interactive-marker-twist-server sudo apt install ros-jazzy-cartographer-ros

export TURTLEBOT3_MODEL=burger

ros2 launch turtlebot3_gazebo empty_world.launch.py

ros2 launch turtlebot3_gazebo turtlebot3_house.launch.py

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

sudo apt install ros-jazzy-cartographer-ros

ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim:=true

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Navigation: ros2 launch turtlebot3_navigation2 navigation2_use_sim_time.launch.py map_yaml_file:=/home/david/ros2_ws/src/Week-1-8-Cognitive-robotics/turtlebot3_mogi/maps/map.yaml

start on real robot: ros2 launch turtlebot3_bringup hardware.launch.py

Python environment: sudo apt install python3-pip sudo apt install pipx pipx ensurepath pipx install virtualenv pipx install virtualenvwrapper

.bashrc

replace (created by pipx ensurepath)

Created by pipx on 2024-12-15 20:49:03

export PATH="$PATH:/home/david/.local/bin"

Virtual environment for pipx and tensorflow

export PATH="$PATH:/home/$USER/.local/bin" export WORKON_HOME=~/.virtualenvs export VIRTUALENVWRAPPER_PYTHON=/home/$USER/.local/share/pipx/venvs/virtu> source /home/$USER/.local/share/pipx/venvs/virtualenvwrapper/bin/virtuale> workon tf

ERROR: Environment 'tf' does not exist. Create it with 'mkvirtualenv tf'.

mkvirtualenv tf

(tf) david@david-ubuntu24:~$ pip install tensorflow