TUBAF_Robotik_23_24

Repository for the winter semester 23/24 robotics course at the TU Freiberg

Projects

• Timing_Tubaf
• Follower
• Camera_Line

Timing_Tubaf

Minimalist example demonstrating a C++ publisher node, publishing an integer on topic "number" and a Python node subscribing to "number" and publishing the temporal difference between updates to "number" on topic "diff".

Build

In the workspace directory call:

colcon build --packages-select timing_tubaf

Run

In the workspace directory call:

source install/setup.bash
ros2 run timing_tubaf my_publisher

In another terminal, again in the workspace directory, call:

source install/setup.bash
ros2 run timing_tubaf my_subscriber.py

The order in which you execute these should not matter.

Follower

C++ node that has the turtlebot drive towards the nearest object.

Build

In the workspace directory call:

colcon build --packages-select follower

Run

In the workspace directory call:

source install/setup.bash
ros2 run follower main

Parameters

• minDistance minimal distance to an object before the robot stops approaching
• linearSpeed linear movement speed
• angularSpeed rotational movement speed
• openingAngle angle deviation from 0° within which the robot will feel confident to drive forwards

Camera_Line

C++ node that has the turtlebot drive along a white line on the ground, using the builtin camera.

Build

In the workspace directory call:

colcon build --packages-select camera_line

Run

In the workspace directory call:

source install/setup.bash
ros2 launch camera_line launch.yaml

Parameters

• linearSpeed linear movement speed
• angularSpeed rotational movement speed
• openingRatio ratio between the coordinate of the line in the cameras image and the image width, when the the robot will feel confident to drive forwards