ChiefBeef

Major Project implementation for a turtlebot within a grocery store. This bot will be able to traverse the store using SLAM to localise itself and use it's camera to keep a record of stock. A GUI will be used to see the current inventory and control the robot.

How to setup the Physical Turtlebot

1. Turn the Turtlebot on and power up
2. Wait for it to make the sound and for the green light on the second top level to turn on (this is WIFI)
3. Connect to the wifi eb542147pi
4. ssh ubuntu@10.42.0.1 in the terminal to take over the terminal of the bot
5. run selfTest to check the turtlebot functionality

For all of the above, any passwords asked is turtlebot

Discord

https://discord.gg/9uQkYcss

Running The Turtlebot

There are 3 Steps for this. Make sure to do it in order!

1. Run in the ssh terminal both bringup in one terminal and camera in another
2. Once they are setup, run in your local terminal after colcon building and sourcing. Wait for a while until you see blue text saying "Creating bond timer"

ros2 run explore_lite explore

3. Run the GUI using the below. Press the stocktake button to start.

ros2 run gui Map

4. Optionally, to visualise the turtlebots state in RVIZ.

ros2 launch turtlebot3_bringup rviz2.launch.py

Running Gazebo Simulations

colcon build --packages-select turt3_gazebo --symlink-install && source install/setup.bash && . /usr/share/gazebo/setup.sh && ros2 launch turt3_gazebo launch.launch.py

Creating the SLAM from packages

In one terminal

ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True

In the other terminal

ros2 launch slam_toolbox online_async_launch.py use_sim_time:=True

Installing April Tag Packages

sudo apt-install ros-humble-apriltag
sudo apt-install ros-humble-apriltag-msgs