N_TURTLEBOT

Final Project for Advanced Robotics and Artificial Intelligence, Spring 2024
Faculty of Engineering, Cairo University

Project Overview

The N_TURTLEBOT project consists of two main components:

1. N_TURTLE_HW_CTRL: A folder for hardware control, which includes a ROS node implemented on an Arduino. This node interfaces with:

   • Two motors with encoders
   • An IMU sensor

2. n_turtle_ws: A ROS workspace containing five packages to manage different aspects of the robot's functionality and simulation.

ROS Workspace Packages

1. n_turtle_ctrl

• Responsible for communication and control of the robot.
• Contains the following key files:
  • n_turtle_ctrl.launch: Launches nodes that handle communication with both the main machine and the microcontroller.
  • n_turtle_keyboard node: Allows keyboard control of the robot.

2. n_turtle_description

• Contains the URDF file for the robot model.
• To visualize the robot in Rviz, use the:
  • display.launch file.

3. n_turtle_gazebo

• Contains the simulated environment for the robot.
• To visualize the simulation in Gazebo, use the:
  • n_turtle_gazebo.launch file.

4. n_turtle_slam

• Applies the GMapping SLAM algorithm to generate maps using LiDAR.
• Launch files:
  • n_turtle_slam.launch: For use with hardware.
  • n_turtle_slam_sim.launch: For use with simulation.

5. n_turtle_nav

• Implements navigation and localization using AMCL and Move Base packages.
• Launch files:
  • n_turtle_nav.launch: For use with hardware.
  • n_turtle_nav_sim.launch: For use with simulation.

Getting Started

1. Clone the repository:

   git clone https://github.com/NEWIR295/N_TURTLEBOT.git
   

2. Navigate to the ROS workspace:

   cd N_TURTLEBOT/n_turtle_ws
   

3. Build the workspace:

   catkin_make
   source devel/setup.bash
   

4. Launch the desired package according to your needs (e.g., visualization, control, SLAM, navigation).

Usage

• Hardware Control:
  Ensure the Arduino is connected and running the ROS node from N_TURTLE_HW_CTRL.

• Simulated Environment:
  Use n_turtle_gazebo to launch the Gazebo environment for testing in simulation.

• SLAM and Navigation:
  Use appropriate launch files from n_turtle_slam and n_turtle_nav for mapping and navigation, respectively.

Contributors

• Mohamed Newir - Project Lead
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