https://github.com/mogi-ros/week-1-8-cognitive-robotics
Machine learning based line following using TurtleBot3 with ROS2 Jazzy and Gazebo Harmonic
https://github.com/mogi-ros/week-1-8-cognitive-robotics
amcl camera cnn-classification gazebo gazebo-simulator harmonics lidar line-follower-robot line-following localization mapping navigation opencv python3 ros2-jazzy slam tensorflow turtlebot3
Last synced: 5 months ago
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Machine learning based line following using TurtleBot3 with ROS2 Jazzy and Gazebo Harmonic
- Host: GitHub
- URL: https://github.com/mogi-ros/week-1-8-cognitive-robotics
- Owner: MOGI-ROS
- License: apache-2.0
- Created: 2024-11-17T10:33:51.000Z (6 months ago)
- Default Branch: main
- Last Pushed: 2024-12-15T23:27:50.000Z (5 months ago)
- Last Synced: 2024-12-16T00:22:37.060Z (5 months ago)
- Topics: amcl, camera, cnn-classification, gazebo, gazebo-simulator, harmonics, lidar, line-follower-robot, line-following, localization, mapping, navigation, opencv, python3, ros2-jazzy, slam, tensorflow, turtlebot3
- Language: Python
- Homepage:
- Size: 772 KB
- Stars: 2
- Watchers: 2
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Week-1-8-Cognitive-robotics
Machine learning based line following using TurtleBot3 with ROS2 Jazzy and Gazebo Harmonic
Dependencies
https://github.com/MOGI-ROS/DynamixelSDK/tree/humble-devel
https://github.com/MOGI-ROS/turtlebot3_msgs/tree/ros2
https://github.com/MOGI-ROS/turtlebot3/tree/mogi-ros2
https://github.com/MOGI-ROS/turtlebot3_simulations/tree/new_gazebo
Dynamixel SDK if problem with module em uninstall existing em and install this version
pip install empy==3.3.4
https://github.com/ros2/rosidl/issues/779
pip install lark
sudo apt install ros-jazzy-hardware-interface
sudo apt install ros-jazzy-nav2-msgs
sudo apt install ros-jazzy-nav2-costmap-2d
sudo apt install ros-jazzy-nav2-map-server
sudo apt install ros-jazzy-nav2-bt-navigator
sudo apt install ros-jazzy-nav2-bringup
sudo apt install ros-jazzy-interactive-marker-twist-server
sudo apt install ros-jazzy-cartographer-ros
export TURTLEBOT3_MODEL=burger
ros2 launch turtlebot3_gazebo empty_world.launch.py
ros2 launch turtlebot3_gazebo turtlebot3_house.launch.py
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
sudo apt install ros-jazzy-cartographer-ros
ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim:=true
ros2 run teleop_twist_keyboard teleop_twist_keyboard
Navigation:
ros2 launch turtlebot3_navigation2 navigation2_use_sim_time.launch.py map_yaml_file:=/home/david/ros2_ws/src/Week-1-8-Cognitive-robotics/turtlebot3_mogi/maps/map.yaml
start on real robot:
ros2 launch turtlebot3_bringup hardware.launch.py
Python environment:
sudo apt install python3-pip
sudo apt install pipx
pipx ensurepath
pipx install virtualenv
pipx install virtualenvwrapper
.bashrc
replace (created by pipx ensurepath)
# Created by `pipx` on 2024-12-15 20:49:03
export PATH="$PATH:/home/david/.local/bin"
# Virtual environment for pipx and tensorflow
export PATH="$PATH:/home/$USER/.local/bin"
export WORKON_HOME=~/.virtualenvs
export VIRTUALENVWRAPPER_PYTHON=/home/$USER/.local/share/pipx/venvs/virtu>
source /home/$USER/.local/share/pipx/venvs/virtualenvwrapper/bin/virtuale>
workon tf
ERROR: Environment 'tf' does not exist. Create it with 'mkvirtualenv tf'.
mkvirtualenv tf
(tf) david@david-ubuntu24:~$
pip install tensorflow