RBE3002 Team 15 Lab Repository

Team 15’s Repository for all code written for RBE 3002 using the Robotis TurtleBot3

Written By Matthew Haahr, Leo Morris, Brian Shin

Objectives

Lab 2

  • Get comfortable with creating ROS Nodes in Python and launch files
  • Get familiar with the Publisher/Subscriber Paradigm used by ROS Topics
  • Calculate mobile robot kinematics
  • Implement differential drive functionality on the TurtleBot3
  • Create a planned trajectory and track the TurtleBot3’s position

Lab 3

  • Implement the A* pathfinding algorithm on a given environment map to plan paths
  • Visualize the progression of A* using RViz
  • Extract waypoints for the robot based on a calculated path
  • Gain familiarity with ROS services to establish bi-directional communication between ROS nodes
  • Demonstrate the TurtleBot3 following a path

Lab 4 (Final Project)

  • Simultaneous Localization and Mapping (SLAM)
  • Localize the TurtleBot3 in a real environment
  • Navigate the environment and avoid obstacles
  • Find frontiers in the environment to expand the map
  • Generate and follow an optimal path to an arbitrary position

GitHub

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