Experimental robotics laboratory Assignment 1

Made by:

• Elisa Martinenghi mat: 6504193
• Mattia Tinfena mat: 7852527
• Roberto Bertelli mat: 7289118

This is the submission for the first assignment of the Experimental robotics laboratory.

As you can see from the videos the robot is spawned inside of a circle of aruco markers. The robot first does a complete turn to collect all the trackers and visits all of them in order of ascending id value.

This simulation has been realized with ROS2 Jazzy, Gazebo sim for the simulation enviroment and the auruco_opencv library for the simulation environment

2 Wheels driving

4 wheels driving

Real robot test in lab

Environment setup

Be sure to use ROS2 Jazzy to ensure compatibility

1. clone the package in a ros src folder, be sure to name it erl1

   git clone https://github.com/MattiaTinfena/ExpRob_Ass1 erl1

2. clone the aruco_opencv package in the same ros folder

   git clone https://github.com/fictionlab/ros_aruco_opencv.git

3. be sure that aruco is using the correct topics and uses the correct dictionary (ARUCO_ORIGINAL)
4. copy the aruco box generated on the gazebo_models folder

    cp aruco_box/ ~/gazebo_models/ -r

5. build the ros packages with colcon

   colcon build

Run the launchfile for the simulation

Be sure to have sourced the local_setup:

source ./install/bin/local_setup

You can now launch the simulation with the provided launch file

ros2 launch erl1 erl1_simulation.launch.py

Optional parts

Skid steering

To test the bot with 4 wheels in skid steering switch to the skid-steering branch

git switch skid-steering

rebuild with colcon and relaunch the file

ROSBots

To test the code with the rosbot switch to the Lab branch

git switch Lab

launch the auruco detections

ros2 launch aruco_opencv aruco_tracker.launch.xml

In aruco_opencv/config/aruco_tracker.yaml change the cam_base_topic: to: camera/rgb/image_raw/ and set image_sub_compressed: to true

launch the robot script

ros2 run erl1 assignment1.py