- This repository contains my catkin workspace in one place.
- roslaunch turtlebot3_gazebo turtlebot3_house.launch
- roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=/home/bot/tb3_house_map.yaml
- Go to the directory where navGoal.py is present. Run the script by ./navGoal.py
- Talker and Listener working in ros_basics_tutorials
- Having problem with running .py
- Turtle bot simulator working.
- Custom messages for ros packages is not complete. In IOT sensor .cpp was having some syntax error with the code.
- And for .py file the error was (ModuleNotFoundError: No module named 'yaml')
- ModuleNotFoundError: No module named 'rospkg'
- Custom messages are added and completed.
- #!/usr/bin/env python2.7 - needed to add 2.7 in this or else it was clashing with python3.8
- yaml problem solved.
- made changes in CmakeList, added generate messages() or else it was not working.
- iot_sensor_sub.py and iot_sensor_pub.py is working.
- Next need to look into .cpp
- Used turtle bot service
- server and client
- Created custom services
- Add three Int server and client
- Problem with IoT sensor Publisher cpp was removed.
- Added IoT Sensor Publisher Cpp code
- IoT sensor Subscriber Cpp is left, some error with callback func.
- custom services python working
- need to add custom service Cpp code.
- Solved the problem with custom message code in Cpp
- Added a new package named turtlesim_cleaner_bot
- Next thing to do Service in Cpp
- to do Motion in ROS.
- Motion in ROS not working.
- turtle_cleaner_bot package not working.
- catkin_make error
- ros.h not found error :/
- Straight line Motion of cleaner bot working.
- Needed to make some changes in Cmake
- Added code for the user to give input of motion.
- working fine.
- Code is in the middle, have errors.
- adding a subscriber for our motion in ros code.
- not finished, there are bugs.
- set desired orientation is working.
- left, right, forward, backward, rotate motion is working.
- added move to goal fuction for the turtlesim bot.
- added proportional control for moving to the desired location.
- added grid cleaning algorithm for the turtle bot.
- added spiral cleaning algorithm for the bot.
- made necessary changes in main function.
- Anaconda 3 installed python3, which was creating problem with python2.7
- openCV was not working because of the environment clash between Python2.7 and Python3.8
- removed anaconda3 from the system
- rm -rf ~/anaconda3
- After everything is working fine.
- openCV is working not giving any module or package error.
- Added a folder named perception
- Added folder with images
- Added code for opening and saving an image file using openCV
- image get copied in a folder named copy inside image folder.
- Added a folder named imageStruct
- Added code for determining image pixels, image length , width, channels
- used numpy and openCV
- Added a folder named imageEncoding
- Added code for red,green,blue scale images
- Added code for converting to HSV images
- Added code for converting to grayscale images.
- Added code for video streaming in ros
- Video is streamed from both Webcam and also from saved video
- did a little video processing on the videos
- converted to gray scale videos
- added code for drawing different shapes
- Added the code for cv bridge
- having issues with usb cam package cloning and use.
- having problem in sourcing setup.bash
- need to solve the problem of cv Bridge in ROS
- Finished the cv Bridge part
- USB cam package is also working fine.
- image publisher subscriber working.
- usb cam - publisher, imagePUBandSUB - subscriber
- Added code for simple and adaptive thresholding.
- working fine.
- Added the code for color filtering.
- converted RGB image to HSV image for easy detection.
- given the lower and upper bound for color detection.
- palyed with the thresholds for detecting the image properly.
- Added code for detecting contours
- convert rgb image to gray scale
- convert it to binary by adaptive thresholding.
- draw contours on the image.
- need to complete CV in ROS with openCV
- added code to find the area and perimeter of contours.
- added code to draw the contours by the above steps.
- added cpp code for reading video
- made changes in the cmake list
- added executable for the code.
- Installed ros_lib in arduino
- Installed other dependencies and packages.
- Used Rosserial in arduino the blink sketch and hello world.
- Next to configure ultrasonic sensor using ros.
- Added code for using ultrasonic sensor with arduino and ROS.
- Code is working fine.
- Added package for gazebo, my_simulation and slam gmapping.
- Could not fix the issue
- Not working.
- Started with Perception - Laser Range Finder
- Rosserial arduino is finished.
- Need to look into Laser Range Finder Module.
- Added turtlebot 3 simulation packages.
- Added navigation and slam packages.
- made changes in bashrc by gedit .bashrc for turtlebot3
- turtle bot 3 gazebo simulation not working.
- The issue is saying Model name is not set for turtlebot 3.
- Added the export data of turtlebot 3 model name in .zshrc
- git clone ros code for part 2 from git repo
- Did basic movement with teleop in gazebo on turtlebot3
- The simulation on rviz was not working correctly
- The data shown after rostopic list is not same as the instructor.
- Need to check this part
- studied about the ROS navigation.
- Transformation
- Rotation Matrix in 2d and 3d frames.
- Frame Change configurations.
- got knowledge about rotation representation.
- Euler angles.
- Quaternions
- need to study about gimbal lock.
- used tf package library in python script
- made a new package to try my codes.
- learned how to do rotation transformation from euler to quaternion and vice versa.
- Added code for converting euler from quaternion
- subscribed to turtlebot 3 geometry messages.
- used the quaternion list to get the yaw.
- used view frame to generate a pdf file for frames
- Added code for frames transformation broadcaster
- Added code for frames transformation listener
- Used RVIZ and gazebo to perform navigation.
- Used 2D Pose estimate to manually estimate initial pose
- Used 2D Nav Goal to perform navigation.
- Learnt about recovery behaviour during navigation if the robot gets stuck due to obstacle and path.
- Learnt about clearing process which clears the previous static obstacles which are not there during navigation.
- Added code for autonomous navigation of my turtlebot.
- Navigation stack working fine.
- Learnt about the map frame and local frame.
- Learnt Particle estimater.
- Learnt about local path planner.
- Learnt about global path planner.
- learnt about the carrot planner, navfn, global_planner.
- Dijkstra Algo + A* algo - need to study
- Dynamic window Algorithm for local path planner.
- Learnt about the tuning of simulation time in dwa local path planner.
- increasing the simulation time or prediction will increase the computation and consequently decrease the battery power soon.
- Trajectory tries to minimise the total cost.
- cost consists of path distance bias, goal distance bias, occdist scale
- Learnt about the implementation of path dist bias, goal dist bias and occ scale.
- configured the parameters dynamically using rqt_reconfigure
- path dist bias is the amount by which it will the path trajectory.
- goal dist bias is the amount by which it will reach a goal using the shortest path.
- occ scale decides the importance of distance from wall or obstacles - a high value will give more importance
- Learnt about follower application using two turtlesim
- used rosrun tf tf_echo turtle1_frame turtle2_frame to see relative position and orientation between two frames.
- used rosrun tf tf_monitor to know about the frames present.
- added code for turtlesim broadcaster and listener.
- added the launch file of turtle sim follower application.
- BUG algorithm
- BUG0 - head to goal straight, follow the wall if obstacle is there.
- BUG1 - head to goal straight, follow the wall if obstacle is there, go to the closest location of goal.
- BUG2 - head to goal straight, follow the wall if obstacle is there, creates a shortest line from start to goal, follow this line.
- Need to add three turtle in turtle sim and make them follow.
- Added code for the third turtle.
- made the third turtle flow the 2nd turtle.
- updated in the launch file.
- Added a fourth turtle in tfBroadcaster.
- roslaunch ros_nav tfBroadcaster.launch
- fourth turtle will follow the third one.
- Need to study about BUG algorithm.
- Need to study about hector slam technique.
- Need to study Dijkstra ALgo and A* Algo.
- Need to find technique to install ROS in raspberry pi.
- Need to study about kinect sensor 3d Camera.
- Need to know about the working of LIDAR.
- Need to study how to convert 3D models to URDF
- Learned a little about Dijkstra's algorithm and A* algo
- A* algo gives weights to a point according to starting and the goal location
- Dijkstra only gives weight according to the starting.
- Need to try different algo on solving a maze.
- Learned about Kalman Filter, Monte Carlo.
- Need to look into matrices, jacobian, rotational matrices.
- Algorithms need to be added.
- Studied basics about quaternion.
- Studied about gimbal lock.
- Studied how quaternion is required for representing 3d rotation.
- Need to go more into the depths of quaternion mathematics.
- Was trying to work with MQTT
- having some problem for python 2 environment.
- Added repo for room cleaning bot.
- Error in mqtt subscriber function.
- Need to start the ros course all over again.
- Started studying about the publisher subscriber and documenting it down here.
- Cloned the gazebo bicycle repo to my catkin_ws
- Ran the launch file.
- Not working.
- Started making Usage commands in README.md
- Cloned the bicyle_gazebo repo again in my catkin_ws
- Model is showing in gazebo
- After cloning need to make catkin_make
- Then
roslaunch self_balancing_bicycle main.launch - Added another bycle repo bicycle_model_URDF.. not working.
- Currently working on making the bicycle move.
- Added a world folder to add a wall in gazebo simulation