/Autonomous-Reconnaissance-Robot-for-a-Simulated-Disaster-Environment

Primary LanguageC++

Check my website out for more details: https://vigneshr2306.wordpress.com/autonomous-reconnaissance-robot-for-a-simulated-disaster-environment/

Setup:

In your remote PC, do the following:

  1. Clone the repository into the catkin_ws/src. This includes the necessary packages such as turtlebot3 navigation, turtlebot3_slam, apriltag_ros, explore_lite.
  2. Go to catkin_ws and catkin_make.
  3. Source the ``catkin_wsusingsource devel/setup.bash```

In your Turtlebot3, do the following:

  1. SSH into your raspberrypi of your turtlebot from your remote PC by entering sudo ssh ubuntu@ip_address. Enter the password when required.
  2. Install the apriltag_ros package for apriltag detection using sudo apt install ros-noetic-apriltag-ros
  3. Install the raspicamnode package for raspberrypi camera control using the instructions from https://github.com/UbiquityRobotics/raspicam_node.git
  4. Calibrate the camera by following the instructions from the same website.
  5. Source the catkin_ws using source devel/setup.bash

Execution:

Run roscore in your PC. Make sure to setup the ~/.bashrc file with the right IP address of the PC and TurtleBot3 and ROS_MASTER_URI and ROS_HOSTNAME as per the instructions from https://emanual.robotis.com/docs/en/platform/turtlebot3/quick-start/#pc-setup In the Turtlebot3, do the following:

  1. To bringup the turtlebot, run roslaunch turtlebot3_bringup turtlebot3_robot.launch
  2. To run the raspicam_node, run roslaunch raspicam_node camerav2_1280x960_10fps.launch enable_raw:=true
  3. To run the apriltag detection, run roslaunch turtlebot3_mr apriltag_gazebo.launch

In the remote PC, do the following:

  1. To execute the move_base node, run roslaunch turtlebot3_navigation move_base.launch
  2. To execute the gmapping node, run roslaunch turtlebot3_slam turtlebot3_slam.launch
  3. To execute the explore_lite frontier exploration, roslaunch explore_lite explore.launch
  4. To record all the topics for future reference, runrosbag record -a
  5. After exploration, save the map by running rosrun map_server map_saver -f ~/map
  6. To view the output of the raspicam_node and /tag_detections node, rqt_image_view
  7. Run the pose estimation script by running rosrun turtlebot3_navigation detection.py