Master ME4512 Autonomous Mobile Robot

ME4512 Autonomous Mobile Robot - Robot tự hành

Master Class 20261 ,  Autonomous mobile Robot ,  

Class website: https://sites.google.com/view/bblab/teaching/master-me4512_autonomousrobot

Team code: o4v1tjx

Class sheet: 

https://docs.google.com/spreadsheets/d/13oYYeaAnrTVY9SE9rM6xzfMSP4AOmTVK-w9pVFYRYag/edit?usp=sharing

Link lecture materials:https://sites.google.com/view/bblab/teaching/me4512_rbth-autonomousrobot

Google drive document:

https://drive.google.com/drive/folders/1NZaiy-0S4KbtwfU9n9dsiQTA5Hlh65i9?usp=sharing

Course materials: 

Introduction to Autonomous Mobile Robots, 2004. Roland Siegwart and Illah R. Nourbakhsh

English lecture materials:

https://asl.ethz.ch/education/lectures/autonomous_mobile_robots/spring-2020.html

I. Practical excercises:

HW 1:  Setting up UBUNTU and ROS 2

Please take a screenshot of your computer running Ubuntu and ROS version and submit it to assignment on team 

1. Install the latest Stable version of Ubuntu 

https://releases.ubuntu.com/

Recommnet install directly on a machine running both Windows and Ubuntu simultaneously. Create partion of approximately 30Gb ~ 

https://ubuntuhandbook.org/index.php/2022/04/install-ubuntu-2204-step-by-step/

 Select step 5: Manually create system partition to để tạo partition cài Ubuntu song song với window, hay ubuntu bản cũ hơn

Select Step 5: Manually create system partion for installing Ubuntu alongside window, or older version of ubuntu 

Create a bootable USB drive for installing Ubuntu: 

https://linux.how2shout.com/how-to-create-ubuntu-22-04-bootable-usb-drive-on-windows/

 2. Installing the ROS2 operation System:

https://docs.ros.org/en/lyrical/

Create workspace for ROS projects:

http://wiki.ros.org/catkin/Tutorials/create_a_workspace

Check Ubuntu version 

~$lsb_release -a 

ROS:   ~$ rosversion -d

Take a screenshot of the rosversion screen and upload it to assignment on the team. Check Turn In button -> Finish 

HW 2:  Self-study  the beginer level lessions in ROS2 tutorial

Examples: CLI tools , Beginner: Client libraries

https://docs.ros.org/en/jazzy/Tutorials.html

Please take screenshot at least three  tutorial and submit them to team 

HW 3:  Installing and running Turtle bot simulation Cài đặt và chạy Turtle bot simulation

Please take a screenshot of running program and submit them to the Ms Team:

Reference link : https://emanual.robotis.com/docs/en/platform/turtlebot3/simulation/#gazebo-simulation

Steps: 

Create a catkin space:

http://wiki.ros.org/catkin/Tutorials/create_a_workspace

$ mkdir -p ~/tenmuondat_ws/src

$ cd ~/catkin_ws/src   

Go to src (source) directory to download  needed package you need to run , for example turtle bot3 simulation

~/catkin_ws/src$ git clone https://github.com/ROBOTIS-GIT/turtlebot3.git

~/catkin_ws/src$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

After downloading, go to work space folder :

$ cd ~/catkin_ws/

And install:  

 ~/catkin_ws/$  catkin_make                       (Compile  turtble bot to make  build and devel folder ) 

 ~/catkin_ws/$  source devel/setup.bash     ( Register new installed package to ros) 

If there are error, use AI Chat, if lack package , run this command to instal lacked package

Bạn nào báo lỗi thiếu package thì chạy lệnh sau để tự động cài package còn thiếu: 

rosdep install --from-paths src --ignore-src -r -y

Muốn hệ thống tự khai báo gói turtle bot các bạn chạy lệnh:

Use this command to auto register package to ros everytime you open command

echo "source  ~/catkin_ws/devel/setup.bash" >> ~/.bashrc      (Add source line to  file bashrc)

Or edit file and paste "source  ~/catkin_ws/devel/setup.bash" to last line : gedit ~/.bashrc 

Test run: 

Open 2  command Terminal and run

Terminal 1,2 : 

$ export TURTLEBOT3_MODEL=burger     ( There are several turtle bot, we chose  TURTLEBOT3_MODEL is  burger )

Terminal 1: 

$ roslaunch turtlebot3_gazebo turtlebot3_world.launch

Terminal 2: 

$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

Then in terminal 2, control simulated turtle bot 3 by keyboard 

Sau đó điều khiển turtble trên gazebo bằng bàn phím w,s,a,d,x ...

Take a screenshot of result Rviz and gazebo and post to team assignment. 

Chụp ảnh chạy Rviz và Gazebo robot đang tự di chuyển và xây dựng bản đồ

Program the robot's control interface GUI in  python:

https://drive.google.com/drive/folders/1htjZcBOgl_FhC8FPWRVxY11PIwfaXsAx?usp=sharing

Step 1: 

$ export TURTLEBOT3_MODEL=burger

$ roslaunch turtlebot3_gazebo turtlebot3_world.launch

roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

Step 2:

$ export TURTLEBOT3_MODEL=burger

$ roslaunch turtlebot3_navigation turtlebot3_navigation.launch

If get error dwa_local_planner, install it

$sudo apt-get install ros-noetic-dwa-local-planner

Step 3: 

~/PycharmProjects/send_goal_GUI$ python send_goal_GUI.py

Reference:  Keyword: tkiter python gui, Sending Goals to the Navigation Stack - Python

https://realpython.com/python-gui-tkinter/

https://hotblackrobotics.github.io/en/blog/2018/01/29/action-client-py/

Một số mô hình xe tự hành dùng Omni Wheel