Difference: GoogleCSR (5 vs. 6)

Revision 62021-03-18 - DamianLyons

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META TOPICPARENT	name="FordhamRoboticsAndComputerVisionLaboratory"

GoogleCSR Autonomous Robotics Project Spring 2001

Autonomous Robot Exploration

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Schedule

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W1 3/1: Begin Phase 1 UBUNTU in place, ROS installed, Start tutorials

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W1 3/1: Begin Phase 1 UBUNTU in place, ROS installed, Start tutorials

Install up to 3.1.5 on the robotis 'quickstart guide. Examine your ~/bashrc file as in 3.1.6 part 3 and make sure you have the two lines ABOVE the red box.
Type them in if you do not. Ignore the two lines in the red box.

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Read the document "A Gentle Introduction to ROS" - use this as a reference document for the first tutorials.

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Next meeting is 5pm on Wed Mar 10.

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W2 3/8: >= 50% ROS tutorials. One team member to specialize in gazebo knowledge

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W2 3/8: >= 50% ROS tutorials. One team member to specialize in gazebo knowledge

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Next meeting is Wed Mar 17th 5pm and we will cover SLAM and gMapping.

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W3 3/15: ROS tutorials done. Motion and sensing scripts. One team member to specialize in gMapping

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W3 3/15: ROS tutorials done. Motion and sensing scripts. One team member to specialize in gMapping

The file Wandert3.py is attached (you need to remove the ".txt" from the name WanderT3.py.txt when you download this to execute)

Review this program and discuss it in your group meeting. If your group has questions, please email me, but copy both teams so everybody can benefit from the answer.

Using "roslaunch turtlebot3_gazebo turtlebot3_house.launch" start the simulated house world. In a separate window, start the wanderT3 python program with "python3 wantderT3.py". Observe the behavior of the robot - have you any ideas for improvement so that it explors the house better and quicker?

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W4 3/22: Demo gMapping. wander script. exploration mapping

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The demonstration of SLAM did not go as expected during our meeting. I had forgotten to type"source ~/catkin_ws/devel/setup.bash" before I started it, and thats how come I got some errors when it started!

You need to have started the house simulation first, and then start a new terminal window.

When you type "roslaunch turtlebot3_slam turtlebot3_slam.launch slam_method:=gmapping" what you should see is this

This shows the 'progress' of the robot in using the 360 degrees of laser range finding data to make a map. If you start another new terminal shell and let wanderT3.py run, you will see the map grow. You can also use the teleoperation command from last week to 'drive' the robot around, and that is a much quicker way to make the map!

Next meeting is Wed Mar 22, 5:00pm.

W4 3/22: Demo gMapping. wander script. exploration mapping

W5 3/29 Begin Phase 2

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-- (c) Fordham University Robotics and Computer Vision

moveSquareT3.py.txt: Simple ROS Node

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WanderT3.py.txt: WanderT3.py

META FILEATTACHMENT	attachment="moveSquareT3.py.txt" attr="" comment="Simple ROS Node" date="1615411134" name="moveSquareT3.py.txt" path="moveSquareT3.py.txt" size="1753" user="DamianLyons" version="1"

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META FILEATTACHMENT	attachment="WanderT3.py.txt" attr="" comment="WanderT3.py" date="1616030867" name="WanderT3.py.txt" path="WanderT3.py.txt" size="3264" user="DamianLyons" version="1"

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