EE346-Final-Lab

This is the lab resources for SUSTech EE346 2022 final lab.

Usage

1. Clone the source code

sudo apt-get install ros-melodic-navigation

cd ~/catkin_ws/src

git clone https://github.com/tf1423079696/EE346-final-lab.git

2. Catkin make the EE346-lab6 package

cd ..

catkin_make

3. Add course models to the end of ~/.bashrc in computer

(replace 192.168.3.244 with your comuter ip)

export TURTLEBOT3_MODEL=burger

export ROS_MASTER_URI=http://192.168.3.244:11311

export ROS_HOSTNAME=192.168.3.244

4. Add course models to the end of ~/.bashrc in your robot

(replace 192.168.3.244 with your comuter ip, 192.168.3.81 with your robot ip)

export ROS_MASTER_URI=http://192.168.3.244:11311

export ROS_HOSTNAME=192.168.3.81

5. Source the .bashrc file(in both computer and robot)

source ~/.bashrc

6. Connect your robot

(replace 192.168.3.81 with your robot ip)

roscore

in a new terminal: ssh pi@192.168.3.81

roslaunch turtlebot3_bringup turtlebot3_robot.launch

7. Run the project

To run the navigation node, you need to first move "map.pgm" (or "map_new.pgm") and "map.yaml" (or "map_new.yaml") from /maps to /home directory. We use "map.pgm" and "map.yaml" in the final lab.

cd ~/catkin_ws/src/EE346-final-lab/

roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml

In a new terminal:

cd ~/catkin_ws/src/EE346-final-lab/

rosrun sound_play soundplay_node.py