CDE2310 mission_control (MAIN) node

This node handles the Finite State Machine (FSM) flow of events during our mission, integrating the nodes packaged in the other repos, such as

• casualty_location
• nav2_wfd

Commands to Run

Run on Remote PC

1. (if running on simulation) Turtlebot3 Gazebo launch

ros2 launch mission_control turtlebot3_world.launch.py

2. nav2 Stack

ros2 launch mission_control navigation.launch.py use_sim_time:=True

Parameters for the Nav2 stack can be found in mission_control/config/nav2_params.yaml

3. slam_toolbox online_async

ros2 launch mission_control online_async.launch.py use_sim_time:=True

4. (if you need to debug) RViz

ros2 launch mission_control rviz.launch.py 

5. Finally, run the missionStart launch file

ros2 launch mission_control mission_start.launch.py use_sim_time:=True

Run on SBC

1. turtlebot bringup (initialises lidar, etc.)

ros2 launch turtlebot3_bringup robot.launch.py use_sim_time:=False

2. amg8833 driver and heat source yaw publisher

ros2 run casualty_location ir_pub

3. turtlebot_launcher service

ros2 run turtlebot_launcher launcher_service

Dependencies

Clone and Build on Remote PC

clone the following directories into the /ros2_ws/src folder

git clone https://github.com/cde2310grp6/mission_control.git

git clone https://github.com/cde2310grp6/custom_msg_srv.git

git clone https://github.com/cde2310grp6/casualty_location.git

git clone https://github.com/cde2310grp6/nav2_wavefront_frontier_exploration.git

Clone and Build on SBC

git clone https://github.com/cde2310grp6/casualty_location.git

https://github.com/cde2310grp6/turtlebot_launcher.git

ROS2 Humble Nav2 Stack for Gazebo, Gazebo Classic 11.14.0 tested and working

We used the ROBOTIS turtlebot3 manual for majority of the necessary setup. https://emanual.robotis.com/docs/en/platform/turtlebot3/quick-start/