Mechatronics Project

This is to simulate a Turtlebot Waffle autonomously solving a maze and shooting coloured targets, made as a part of the course Mechatronics and Robotics at CU Boulder.

Launching the simulation

The TURTLEBOT3_MODEL environment variable needs to be exported globally :

cd MechatronicsProject; export TURTLEBOT3_MODEL=waffle

Then, in separate terminals, enter the following :

Launching the environment

roslaunch ttb3_custom.launch map:=$(pwd)/maps/maze4.xml

Getting rviz to work :

rosrun tf static_transform_publisher 0 0 0 0 0 0 odom base_scan 50

rosrun tf static_transform_publisher 0 0 0 0 0 0 odom camera_rgb_optical_frame 50

rviz -d pblart.rviz

Launching autonomous control :

python scripts/robot2.py

Target detection using camera

python scripts/cam.py

Projectile firing

python scripts/projectile.py