ME495 Sensing, Navigation and Machine Learning For Robotics

• Damien Koh
• Winter 2024

Package List

This repository consists of several ROS packages

• nusim - Provides a simulated robot environment for the turtlebot
• nuturtle_control - Enables control of the turtlebot in real life or simulation
• nuturtle_description - Visualizes a single or multiple turtlebots in rviz
• turtlelib - Enables performing 2D rigid body transformations and other functionality

HW2

Video submission for Physical Testing:

594d-30fd-4239-bcdd-72c63985fd5e.mp4

The final odom position was x: 0.064997, y: -0.1335737

Issue: Catch_ros2

Whilst attempting to run integration tests, I will always receive the 'result_file' does not exist error. Additionally, attempting to run the integration runs ghost nodes that only exit when shut down.

HW3

Photo submission for SLAM implementation in simulation:

Video submission for SLAM implementation in simulation:

slam_odom.webm

HW4

Really sorry but with everything going on this quarter, I didn't have a chance to properly do this task.

(At the beginning of next quarter I will complete this for my own learning and portfolio)