TB3 GUI - TurtleBot3 Graphical User Interface

A ROS2 (Robot Operating System 2) project providing graphical user interfaces for controlling and monitoring TurtleBot3 robots.

Overview

This project contains multiple packages for interfacing with TurtleBot3 robots through ROS2:

• tb3_gui: Python-based GUI using PyQt5 for robot control and visualization

Features

tb3_gui (Python + PyQt5)

• Real-time Odometry Display: Shows current robot position (x, y coordinates)
• Velocity Control: Interactive buttons for forward/backward movement and rotation
• Speed Control: Adjustable sliders for linear and angular velocities
• Live Velocity Graphs: Real-time visualization of linear and angular velocities
• Trajectory Mapping: Interactive plot showing robot's movement path
• Dark Theme: Modern dark UI design

Prerequisites

• ROS2 (Humble or later recommended)
• Python 3.8+
• PyQt5 (for tb3_gui)
• TurtleBot3 packages for ROS2

Dependencies

# For tb3_gui
pip install PyQt5 matplotlib numpy

# For ROS2
sudo apt install ros-humble-desktop
sudo apt install ros-humble-turtlebot3*

Installation

1. Clone the repository:

   git clone <repository-url>
   cd ros_tb3

2. Build the packages:

   colcon build

3. Source the workspace:

   source install/setup.bash

Usage

Running the Python GUI

# Terminal 1: Launch TurtleBot3 simulation
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

# Terminal 2: Run the GUI
ros2 run tb3_gui tb3_gui_node

GUI Controls

Movement Controls

• Forward: Move robot forward at selected linear speed
• Backward: Move robot backward at selected linear speed
• Left: Rotate robot counter-clockwise at selected angular speed
• Right: Rotate robot clockwise at selected angular speed
• Stop: Immediately halt all robot movement

Speed Adjustment

• Linear Speed Slider: Controls forward/backward movement speed (0-1.0 m/s)
• Angular Speed Slider: Controls rotation speed (0-1.0 rad/s)

Visualization

• Velocity Graph: Shows real-time linear and angular velocity
• Trajectory Plot: Displays robot's path over time
• Odometry Display: Current position coordinates

Project Structure

ros_tb3/
├── src/
│   ├── tb3_gui/              # Python GUI package
│       ├── package.xml
│       ├── setup.py
│       └── tb3_gui/
│           └── tb3_gui_node.py
├── build/                    # Build artifacts (ignored)
├── install/                  # Installation files (ignored)
├── log/                      # Log files (ignored)
├── .gitignore
└── README.md

ROS2 Topics

Subscribed Topics

• /odom (nav_msgs/Odometry): Robot odometry information

Published Topics

• /cmd_vel (geometry_msgs/Twist): Velocity commands to robot

Development

Building from Source

# Clean build
rm -rf build/ install/ log/
colcon build --cmake-clean-cache

Testing

colcon test
colcon test-result --verbose

Code Formatting

# Python
black src/tb3_gui/
flake8 src/tb3_gui/

Contributing

1. Fork the repository
2. Create a feature branch (git checkout -b feature/amazing-feature)
3. Commit your changes (git commit -m 'Add amazing feature')
4. Push to the branch (git push origin feature/amazing-feature)
5. Open a Pull Request

License

This project is licensed under the [LICENSE] - see the LICENSE file for details.

Acknowledgments

• Built for TurtleBot3 platform
• Uses ROS2 for robot communication
• PyQt5 for Python GUI development
• Matplotlib for data visualization

Note: This project is designed for ROS2 and TurtleBot3. Make sure you have the appropriate TurtleBot3 packages installed before running.