DEBI_Robotics_challenge

Robot diagram

Navigation Stack

1. move_base http://wiki.ros.org/move_base
2. CostMap costmap_2d http://wiki.ros.org/costmap_2d
3. CostMap Obstacle Layer http://wiki.ros.org/costmap_2d/hydro/obstacles
4. CostMap Static Layer http://wiki.ros.org/costmap_2d/hydro/staticmap
5. Global Planner http://wiki.ros.org/global_planner?distro=noetic
6. Local Planner http://wiki.ros.org/dwa_local_planner?distro=noetic
7. send goals by actionlib http://wiki.ros.org/actionlib

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Install turtlebot3 for ros noetic

sudo apt-get install ros-noetic-turtlebot3 ros-noetic-turtlebot3-bringup ros-noetic-turtlebot3-description ros-noetic-turtlebot3-gazebo ros-noetic-turtlebot3-navigation ros-noetic-turtlebot3-simulations

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Setting up the work space

1. clone the package using git clone https://github.com/Melasmar-711/Turtlebot3_DEBI_challenge.git

2. sudo apt install ros-noetic-ros-control* ros-noetic-control* ros-noetic-moveit*
   if you faced any error in the previous command try the following:
   sudo apt -o Dpkg::Options::="--force-overwrite" --fix-broken install

sudo apt update
sudo apt upgrade
   

3. install required packages in your environment
   cd Turtlebot3_DEBI_challenge
pip install -r requirements.txt
   if you faced any problem with the versions, delete the version number from the requirments.txt or try to install that pkg with pip3 install

4. build the catkin workspace catkin_make

5. source your workspace echo "/home/<user-name>/Tutrtlebot3_DEBI_Robotics_challenge/devel/setup.bash" >> ~/.bashrc replace with your username

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Opening turtlebot3 in gazebo

1. you need to export the model you are going to use first. i will export it permenantly in the .bashrc using echo "export TURTLEBOT3_MODEL=waffle_pi">> ~/.bashrc
2. launch the turtlebot in your world. for now, we will launch it in a premade world in the package using roslaunch debi test.launch

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Run simulation

1. Launch Gazebo, RViz, and MoveIt configuration by running the command:
   roslaunch debi rviz_gazebo.launch
2. In a new terminal, run the planning process of the robot by executing the following command:
   python3 tf2_ik.py
3. In another terminal, send the positions of the balls by running the command:
   python3 send_goals_turtlebot3.py

Make sure that you have all the required dependencies installed and sourced before running the above commands.