AssistanT

The Turtlebot3 assistant project.

Docker Installation

Install Desktop OS Ubuntu 16.04 LTS

Install Docker-CE using the following instructions

Docker run

The first time You start the docker, You have to execute the following command

# TO HAVE WIFI network working
docker run -it --name assistant_turtle_dev --net=host  -e DISPLAY -e LOCAL_USER_ID=$(id -u) -v /tmp/.X11-unix:/tmp/.X11-unix:rw lyubomyrd/assistant:latest

docker run -it --name assistant_turtle_dev -p 8080:8080 -p 8090:8090 -p 9090:9090 -e DISPLAY -e LOCAL_USER_ID=$(id -u) -v /tmp/.X11-unix:/tmp/.X11-unix:rw lyubomyrd/assistant:latest

Docker run

Next times, please execute

sudo docker start assistant_turtle_dev

Designation:

The following designation will be used through the rest of the repository

Remote PC: R

Turtlebot(Raspberry): Tx, (x=A,B,C,...)

Turtlebot start

Turtlebot is controller using ROS which is installed both on PC and Raspberry.

To execute the bringup sequence You have to perform the following steps:

Steps that has to be performed inside the docker container's terminator window

1R) roscore

Connect to RPI (note that IP address might be different - this depends on network settings)

2R) ssh pi@192.168.43.216

(Password: turtlebot)

Now You have a separeate window inside the terminator that controlles Raspberry, therefore Tx notation corresponds to input into this window.

3TA) roslaunch turtlebot3_bringup turtlebot3_robot.launch

4R) roslaunch turtlebot3_bringup turtlebot3_remote.launch

Teleoperation

1R) roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

Mapping

Create a map:

1R) roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping

Save a map (do NOT close the previous window vefore the next step):

2R) rosrun map_server map_saver -f ~/map

After this step You can close 1R and 2R from mapping.

Navigation

1R) roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml

Development

Type pycharm to run PyCharm-community

Troubleshooting

See wiki for Troubleshooting

Start working with assistant

1. roscore
ssh pi@192.168.43.216
roslaunch turtlebot3_bringup turtlebot3_robot.launch
roslaunch turtlebot3_bringup turtlebot3_remote.launch

2. roslaunch assistant_launch navigation.launch map_file:=/*name_of_map_file*/
   launch navigation on a map saved in /home/user/workspace/turtlebot3/base/src/assistant/assistant_gazebo/maps/

3. • to simply move platform around on the map: roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

   • to make robot navigating from current position to a certain point: rosrun assistant_action main_script.py

Working in Simulation

1. roscore

2. roslaunch assistant_launch simulation.launch
   Launch gazebo simulation for a turtlebot in the testing world (for now - ucu_test.world).

3. roslaunch assistant_launch navigation.launch map_file:=
   Launch rviz with robot being able to navigate on a given map (map_file) map should be saved in /home/user/workspace/turtlebot3/base/src/assistant/assistant_gazebo/maps/ directory

4. rosrun assistant_action main_script.py
   Command for assistant to navigate on a map from his current location to the point stated in the main_script.py
   (for now - 'x': -2.16564114295, 'y': -5.48124138424)