Module #4: Sensor Data Processing

Module # 4 Overview :

• package : robot_sensing
  • 3D Gazebo Simulation
  • Lidar Data
  • RGB and Depth Camera Data

Dependencies

• Ubuntu 22.04 LTS
• Vscode
• ROS2 Humble

Running Project

• Create you own workspace ( if not done already )

  mkdir -p ~/robotisim_ws/src
  cd ~/robotisim_ws/src
  

• Clone repository ( if not done already )

  git clone https://github.com/Robotisim/robotics_software_engineer.git
  

• Install dependencies

  cd ~/robotisim_ws/src/robotics_software_engineer
  rosdep install --from-paths src --ignore-src -r -y
  

• Build your workspace

  cd ~/robotisim_ws/
  colcon build && source ~/ros2_my_ws/install/setup.bash
  

• Export TurtleBot model

  export TURTLEBOT3_MODEL=waffle_pi
  

• Make changes in file paths worlds/line_following.world file

   Change it to your file path
   <uri>/home/luqman/robotisim_ws/src/robot_sensing/models/meshes/line.dae</uri>
  

• Maze Solving Robot using Lidar

   ros2 launch  robot_sensing lidar_maze_solving.launch.py
  

• Line Following Robot using Camera

   ros2 launch  robot_sensing camera_line_following.launch.py