Dependecies

sudo apt-get install ros-noetic-joy ros-noetic-teleop-twist-joy \
  ros-noetic-teleop-twist-keyboard ros-noetic-laser-proc \
  ros-noetic-rgbd-launch ros-noetic-rosserial-arduino \
  ros-noetic-rosserial-python ros-noetic-rosserial-client \
  ros-noetic-rosserial-msgs ros-noetic-amcl ros-noetic-map-server \
  ros-noetic-move-base ros-noetic-urdf ros-noetic-xacro \
  ros-noetic-compressed-image-transport ros-noetic-rqt* ros-noetic-rviz \
  ros-noetic-gmapping ros-noetic-navigation ros-noetic-interactive-markers

sudo apt install ros-noetic-dynamixel-sdk
sudo apt install ros-noetic-turtlebot3-msgs
sudo apt install ros-noetic-turtlebot3

How to operate the Robot

• before any thing add the following 2 lines in your bashrc

export ROS_MASTER_URI=http://your_device_ip:11311
export ROS_IP=your_device_IP

save the file then out and close all the terminal

Terminal 1

1. roscore

Terminal 2

ssh ubuntu@<ip_of_the_robot>

note

• The password of the robot is turtlebot
• Enter your IP of the computer getting it from ifconfig in the MasterIP
• roslaunch turtlebot3_bringup turtlebot3_robot.launch

terminal 3

1. cd DEBI_competition
2. roslaunch turtlebot3_manipulation_bringup turtlebot3_manipulation_bringup.launch

terminal 4

1. roslaunch turtlebot3_manipulation_moveit_config move_group.launch

Todo

Day 1 Todo

• Calibrate camera
• tune parameter contours and Hough
• topics of Real Robot
• control robot
• mapping (by knowing starting position)

Day 2 Todo

• Make map from starting position (3)
• Collect bag after maping (4)
• test arm of the robot (1)
• move el robot o howa 4ayf el balls (2)

Day 3 Todo

• test amcl on real life
• test bashscript bta3 el connection
• test perception
• test PID
• 2dem el camera

Topics of Real life

/battery_state
/camera/camera_info
/camera/image
/cmd_vel
/cmd_vel_rc100
/diagnostics
/firmware_version
/gripper_move_time
/gripper_position
/imu
/joint_move_time
/joint_states
/joint_trajectory_point
/magnetic_field
/motor_power
/odom
/reset
/rosout
/rosout_agg
/rpms
/scan
/sensor_state
/sound
/tf
/version_info

Output of meeting 4/5/2023

• Slightly tune Hough
• t3rfo ezay 45al transform

Video

Team12.DEBI.phase2.mp4