ME495 Sensing, Navigation and Machine Learning For Robotics

• Ava Zahedi
• Winter 2023

Package List

This repository consists of several ROS packages

• nuturtle_description - This package contains urdf files and basic debugging, testing, and visualization code for the WI2023 ME 495 robots.
• nusim - This package provides a simulated robot environment and uses rviz2 for visualization for a red NU turtlebot.
• nuturtle_control - This package enables control of the turtlebot via messages on the cmd_vel topic.
• nuslam - This package allows the turtlebot to perform SLAM with an Extended Kalman Filter implementation.

This repository also contains a custom C++ library

• turtlelib - A library for handling transformations in SE(2) and other turtlebot-related math.
  • rigid2d - vectors, twists, and transformations in 2D
  • diff_drive - kinematics for a differential drive robot in 2D
  • kalman - Extended Kalman Filter implementation with data association
  • circle_fit - circle fitting algorithm given a cluster of points

Launch File Details

• ros2 launch nuslam slam.launch.xml
  Command line arguments:
  • cmd_src - source of cmd_vel messages
    • Options are [teleop, circle, none], defaults to "none"
  • robot - choice of robot
    • Options are [nusim, localhost, none], defaults to "nusim"
  • use_rviz - whether or not rviz launches
    • Options are [true, false], defaults to "true"

Physical Testing

turtlebot.control.demo.hw2.webm

turtlebot.live.demo.hw2.mp4

SLAM in Simulation

turtlebot.slam.demo.hw3.webm

Landmark detection can be done with SLAM by launching ros2 launch nuslam landmark_detect.launch.xml.
A demo of this is shown in the nuslam package README.