eel4930_turtlebot4_pkg

Repo for Team 8's EEL4930 Autonomous Robotics Final Project made in Ros 2 Galactic

About

Our objective is to use a TurtleBot 4 to make a robot that is able to locate a target in a given map and fire at it using a Nerf Gun.

Our work has been divided as such:

• Aditya Ramesh: Target Detection
• Ethan J. Haengel: Mechanical Design for Nerf Gun Holder & its code
• Matthew Shen & Cameron Brown: Path Planning & Object Advoidance
• Adrian Fernandez: TurtleBot 4 Movement & General Debugging/Planning

Image: Rough draft depicting the communication and integration plan for the project components

Useful Turtlebot 4 Docs:

1. https://turtlebot.github.io/turtlebot4-user-manual/
   • https://github.com/turtlebot/turtlebot4_desktop

Useful Tooling

RQT

rqt_graph
ros2 run rqt_console rqt_console

Topics

ros2 topic
    list
        -t
    echo <topic_name>
    info <topic_name>
    pub <topic_name> <msg_type> '<args>'
        --once
        --rate <rateHz>
    hz <topic_name>
ros2 interface show <type_name>

Services

ros2 service
    list
        -t
    type <service_name>
    find <service_type>
    call <service_name> <service_type> <arguments>
ros2 interface show <type_name>

Parameters

ros2 param
    list
    get <node_name> <parameter_name>
    set <node_name> <parameter_name> <value>
    dump <node_name>
    load <node_name> <parameter_file>
ros2 run <package_name> <executable_name> --ros-args --params-file <file_name>

Actions

ros2 action
    list
        -t
    info <action_name>
    send_goal <action_name> <action_type> <values>
        --feedback
ros2 interface show <action_name>

Bag

ros2 bag
    record
        <topic_name>
        -o <bag_file_name> <topic_name> <topic_name2>
    info <bag_file_name>
    play <bag_file_name>

Colcon

colcon
    build
        --symlink-install
        --packages-up-to <package_name>
        --packages-select <package_name>
        --event-handlers console_direct+
    test
colcon_cd <package_name>

Packages

# in <workspace_folder>/src/ run
ros2 pkg create --build-type ament_python <package_name>
    --node-name <node_name> <package_name>
# Put packages in src/<package_name>/<package_name>

Workspace Structure

workspace_folder/
    src/
        package_1/
            CMakeLists.txt
            package.xml
        package_2/
            setup.py
            package.xml
            resource/package_2

Common Packages

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py                        # Turtlebot Gazebo
ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=true   # SLAM
ros2 run turtlebot3_teleop teleop_keyboard                                      # Teleop keyboard
ros2 run nav2_map_server map_saver_cli -f maps/world_map                        # Save map
ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=True map:=maps/world_map.yaml

Custom Packages

source install/setup.bash
ros2 run autoro_navigation test
ros2 run autoro_navigation get_costmap_test
ros2 run autoro_navigation get_map_test

Turtlebot3-specific Code

export TURTLEBOT3_MODEL=burger
sudo apt install ros-galactic-rmw-cyclonedds-cpp
In .bashrc: export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
In /opt/ros/galactic/share/turtlebot3_navigation2/param/burger.yaml:
    Change robot_model_type: "nav2_amcl::DifferentialMotionModel"

Compatibility with ROS1

• Make sure to export ROS2 vars as described above.
• Update PYTHONPATH to point to ROS2 directories
• Make sure that ROS1 has not been sourced before building/installing ROS2 packages