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Dependecies

sudo apt-get install ros-noetic-joy ros-noetic-teleop-twist-joy \
  ros-noetic-teleop-twist-keyboard ros-noetic-laser-proc \
  ros-noetic-rgbd-launch ros-noetic-rosserial-arduino \
  ros-noetic-rosserial-python ros-noetic-rosserial-client \
  ros-noetic-rosserial-msgs ros-noetic-amcl ros-noetic-map-server \
  ros-noetic-move-base ros-noetic-urdf ros-noetic-xacro \
  ros-noetic-compressed-image-transport ros-noetic-rqt* ros-noetic-rviz \
  ros-noetic-gmapping ros-noetic-navigation ros-noetic-interactive-markers

sudo apt install ros-noetic-dynamixel-sdk
sudo apt install ros-noetic-turtlebot3-msgs
sudo apt install ros-noetic-turtlebot3

How to operate the Robot

  • before any thing add the following 2 lines in your bashrc
export ROS_MASTER_URI=http://your_device_ip:11311
export ROS_IP=your_device_IP

save the file then out and close all the terminal

Terminal 1

  1. roscore

Terminal 2

ssh ubuntu@<ip_of_the_robot>

note

  • The password of the robot is turtlebot
  • Enter your IP of the computer getting it from ifconfig in the MasterIP
  • roslaunch turtlebot3_bringup turtlebot3_robot.launch

terminal 3

  1. cd DEBI_competition
  2. roslaunch turtlebot3_manipulation_bringup turtlebot3_manipulation_bringup.launch

terminal 4

  1. roslaunch turtlebot3_manipulation_moveit_config move_group.launch

Todo

Day 1 Todo

  • Calibrate camera
  • tune parameter contours and Hough
  • topics of Real Robot
  • control robot
  • mapping (by knowing starting position)

Day 2 Todo

  • Make map from starting position (3)
  • Collect bag after maping (4)
  • test arm of the robot (1)
  • move el robot o howa 4ayf el balls (2)

Day 3 Todo

  • test amcl on real life
  • test bashscript bta3 el connection
  • test perception
  • test PID
  • 2dem el camera

Topics of Real life

/battery_state
/camera/camera_info
/camera/image
/cmd_vel
/cmd_vel_rc100
/diagnostics
/firmware_version
/gripper_move_time
/gripper_position
/imu
/joint_move_time
/joint_states
/joint_trajectory_point
/magnetic_field
/motor_power
/odom
/reset
/rosout
/rosout_agg
/rpms
/scan
/sensor_state
/sound
/tf
/version_info

Output of meeting 4/5/2023

  • Slightly tune Hough
  • t3rfo ezay 45al transform

Video

Team12.DEBI.phase2.mp4