Self Driving Turtlbot3 Project

About Us

We are Team-2 of AuE893 Autonomy Science and Systems (Spring 2021). Our team consists of Nitin Madhok, Prakhar Gupta, Ryan Nguyen, Shengli Xu, and Sreekar Malladi.

Experiment Results

• Simulation in Gazebo

• Result in Real World

Getting started

Prerequisites

• Ubuntu 20.04
• Ros Noetic
• ROS1
• TurtleBot3 packages
• TurtleBot3 Burger
• Python3
• OpenCV
• Apriltag
• git
• TensorFlow 2.x

Clone the project

$ cd ~/catkin_ws/src
$ git clone git@github.com:AuE893-Spring21-Team-2/aue_finals.git

Build code in your catkin workspace

$ cd ~/catkin_ws
$ catkin_make
$ source ~/catkin_ws/devel/setup.bash

Make the node executable

$ cd ~/catkin_ws/src/aue_finals/src/scripts
$ chmod u+x *.py

Part I: Run Project in Gazebo

$ roslaunch aue_finals turtlebot3_autonomy_final_simulation.launch

Part II: Run Project in Real-World

• Run roscore on Remote PC

  $ roscore

• Bring up TurtleBot3 Burger

  $ ssh ubuntu@{IP_ADDRESS_OF_RASPBERRY_PI}
  $ roslaunch turtlebot3_bringup turtlebot3_robot.launch

• Run project code

  $ roslaunch aue_finals turtlebot3_autonomy_final_real.launch