Turtlebot3 Lane Following and Navigation Capstone

We achieved a multifunctional and integrated system that includes autonomous navigation, lane following and Aruco detection using TurtleBot3 Burger. Our system is designed for the competition of finishing a specified task sequence.

For more details, please check our project ⭐website!

Lane Following

1. Remote PC

   roscore
   

2. SBC

   roslaunch turtlebot3_bringup turtlebot3_robot.launch
   roslaunch turtlebot3_autorace_traffic_light_camera turtlebot3_autorace_camera_pi.launch

3. Remote PC

   export AUTO_IN_CALIB=action
   export GAZEBO_MODE=false
   roslaunch turtlebot3_autorace_traffic_light_camera turtlebot3_autorace_intrinsic_camera_calibration.launch

   • View calibrated images

     rqt_image_view
     

   • Change ISO if the frame is shaking

     rosrun rqt_reconfigure rqt_reconfigure
     

4. Run the lane follower node

   cd ~/catkin_ws/src/EE346-Lab6/src
   python racetrack_control.py

Autonomous Navigation

1. Remote PC

   roscore
   

2. SBC

   roslaunch turtlebot3_bringup turtlebot3_robot.launch

3. Remote PC

   First you need to generate a corresponding map in the $HOME

   roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map_lab.yaml
   python navigation_control.py

Integrated System

1. Remote PC

   roscore
   

2. SBC

   sudo /etc/init.d/ntp restart
   roslaunch turtlebot3_bringup turtlebot3_robot.launch
   roslaunch turtlebot3_autorace_traffic_light_camera turtlebot3_autorace_camera_pi.launch

3. Remote PC

   sudo /etc/init.d/ntp restart
   roslaunch ee346-capstone-control capstone_start.launch
   python cmd_sys.py