{"id":18053696,"url":"https://github.com/newir295/n_turtlebot","last_synced_at":"2025-09-29T07:05:35.325Z","repository":{"id":255903941,"uuid":"851007570","full_name":"NEWIR295/N_TURTLEBOT","owner":"NEWIR295","description":"Final Project For Advanced Robotics And Artificial Inteligence At faculty of Engineering - Cairo University","archived":false,"fork":false,"pushed_at":"2024-10-30T10:10:51.000Z","size":8730,"stargazers_count":0,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"main","last_synced_at":"2025-02-10T15:50:53.714Z","etag":null,"topics":["imu-sensor","lidar-slam","microcontroller","platformio","robotics","robotics-algorithms","robotics-control","robotics-kinematics","robotics-programming","robotics-simulation","ros","ros-noetic","rosserial-arduino"],"latest_commit_sha":null,"homepage":"","language":"CMake","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"bsd-3-clause","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/NEWIR295.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2024-09-02T08:54:38.000Z","updated_at":"2024-10-30T10:10:55.000Z","dependencies_parsed_at":null,"dependency_job_id":"ca956894-a6bb-4232-ab41-76e2101d4123","html_url":"https://github.com/NEWIR295/N_TURTLEBOT","commit_stats":null,"previous_names":["newir295/n_turtlebot"],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/NEWIR295%2FN_TURTLEBOT","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/NEWIR295%2FN_TURTLEBOT/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/NEWIR295%2FN_TURTLEBOT/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/NEWIR295%2FN_TURTLEBOT/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/NEWIR295","download_url":"https://codeload.github.com/NEWIR295/N_TURTLEBOT/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":247307325,"owners_count":20917448,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["imu-sensor","lidar-slam","microcontroller","platformio","robotics","robotics-algorithms","robotics-control","robotics-kinematics","robotics-programming","robotics-simulation","ros","ros-noetic","rosserial-arduino"],"created_at":"2024-10-31T00:07:28.606Z","updated_at":"2025-09-29T07:05:30.288Z","avatar_url":"https://github.com/NEWIR295.png","language":"CMake","readme":"# N_TURTLEBOT\n\n\nFinal Project for Advanced Robotics and Artificial Intelligence, Spring 2024  \nFaculty of Engineering, Cairo University\n\n## Project Overview\n\nThe **N_TURTLEBOT** project consists of two main components:\n\n1. **N_TURTLE_HW_CTRL**: A folder for hardware control, which includes a ROS node implemented on an Arduino. This node interfaces with:\n   - Two motors with encoders\n   - An IMU sensor\n\n2. **n_turtle_ws**: A ROS workspace containing five packages to manage different aspects of the robot's functionality and simulation.\n\n## ROS Workspace Packages\n\n### 1. **n_turtle_ctrl**\n- Responsible for communication and control of the robot.\n- Contains the following key files:\n  - **`n_turtle_ctrl.launch`**: Launches nodes that handle communication with both the main machine and the microcontroller.\n  - **`n_turtle_keyboard` node**: Allows keyboard control of the robot.\n\n### 2. **n_turtle_description**\n- Contains the URDF file for the robot model.\n- To visualize the robot in **Rviz**, use the:\n  - **`display.launch`** file.\n\n### 3. **n_turtle_gazebo**\n- Contains the simulated environment for the robot.\n- To visualize the simulation in **Gazebo**, use the:\n  - **`n_turtle_gazebo.launch`** file.\n\n### 4. **n_turtle_slam**\n- Applies the **GMapping SLAM algorithm** to generate maps using LiDAR.\n- Launch files:\n  - **`n_turtle_slam.launch`**: For use with hardware.\n  - **`n_turtle_slam_sim.launch`**: For use with simulation.\n\n### 5. **n_turtle_nav**\n- Implements navigation and localization using **AMCL** and **Move Base** packages.\n- Launch files:\n  - **`n_turtle_nav.launch`**: For use with hardware.\n  - **`n_turtle_nav_sim.launch`**: For use with simulation.\n\n## Getting Started\n\n1. Clone the repository:\n   ```bash\n   git clone https://github.com/NEWIR295/N_TURTLEBOT.git\n\n2. Navigate to the ROS workspace:\n   ```bash\n   cd N_TURTLEBOT/n_turtle_ws\n\n3. Build the workspace:\n   ```bash\n   catkin_make\n   source devel/setup.bash\n\n4. Launch the desired package according to your needs (e.g., visualization, control, SLAM, navigation).\n\n## Usage\n\n- **Hardware Control**:  \n  Ensure the Arduino is connected and running the ROS node from `N_TURTLE_HW_CTRL`.\n\n- **Simulated Environment**:  \n  Use `n_turtle_gazebo` to launch the Gazebo environment for testing in simulation.\n\n- **SLAM and Navigation**:  \n  Use appropriate launch files from `n_turtle_slam` and `n_turtle_nav` for mapping and navigation, respectively.\n\n## Contributors\n\n- Mohamed Newir - Project Lead  \n=======\n\n","funding_links":[],"categories":[],"sub_categories":[],"project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fnewir295%2Fn_turtlebot","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fnewir295%2Fn_turtlebot","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fnewir295%2Fn_turtlebot/lists"}