RBE3002 Team 15 Lab Repository

Team 15's Repository for all code written for RBE 3002 using the Robotis TurtleBot3

Written By Matthew Haahr, Leo Morris, Brian Shin

Objectives

Lab 2

• Get comfortable with creating ROS Nodes in Python and launch files
• Get familiar with the Publisher/Subscriber Paradigm used by ROS Topics
• Calculate mobile robot kinematics
• Implement differential drive functionality on the TurtleBot3
• Create a planned trajectory and track the TurtleBot3's position

Lab 3

• Implement the A* pathfinding algorithm on a given environment map to plan paths
• Visualize the progression of A* using RViz
• Extract waypoints for the robot based on a calculated path
• Gain familiarity with ROS services to establish bi-directional communication between ROS nodes
• Demonstrate the TurtleBot3 following a path

Lab 4 (Final Project)

• Simultaneous Localization and Mapping (SLAM)
• Localize the TurtleBot3 in a real environment
• Navigate the environment and avoid obstacles
• Find frontiers in the environment to expand the map
• Generate and follow an optimal path to an arbitrary position