Program Launch Guide

This guide provides step-by-step instructions to launch the ROS assessment program.

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Prerequisites

Before starting, ensure you have completed Step 3 (Build & Source) at least once.

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Launch Steps

Step 1: Launch Gazebo Simulation

Choose one of the following commands:

Option A:

ros2 launch limo_gazebosim limo_gazebo_diff.launch.py world:=src/ros_assesment/worlds/home.world

Option B:

ros2 launch ros_assesment sim_with_world.launch.py

📝 Note: This step 3 must be completed before using Option B.

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Step 2: Launch Navigation

ros2 launch limo_navigation limo_navigation.launch.py map:=src/ros_assesment/maps/my_map.yaml use_sim_time:=true

⚠️ Important: Add the Depth Camera topic in RVIZ before proceeding to the next step.

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Step 3: Build & Source Package

colcon build --packages-select ros_assesment --symlink-install
source install/setup.bash
ros2 run ros_assesment <name of py>

Step 4: Launch Object Detection

ros2 run find_object_2d find_object_2d --ros-args \
    -r image:=/limo/depth_camera_link/image_raw \
    -p objects_path:=/workspaces/cmp9767-Robotics-Edosa-module/src/ros_assesment/trained_objects \
    -p gui:=false

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Step 5: Run 3D Object Finder

ros2 run ros_assesment find_object_to_3d

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Step 6: Run 3D Counter

ros2 run ros_assesment counter_3d

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Step 7: Configure Costmap Parameters

Launch RQT and adjust the following parameters:

rqt

Configuration Settings:

• Local costmap scaling factor: 1.35
• Inflation radius: 0.35

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Step 8: Run Waypoint Automation

ros2 run ros_assesment automate_waypoints

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Quick Reference

Step	Command	Description
1	ros2 launch limo_gazebosim...	Launch Gazebo world
2	ros2 launch limo_navigation...	Start navigation stack
3	colcon build...	Build and source package
4	ros2 run find_object_2d...	Start object detection
5	ros2 run ros_assesment find_object_to_3d	Convert to 3D coordinates
6	ros2 run ros_assesment counter_3d	Run 3D counter
7	rqt	Configure costmap
8	ros2 run ros_assesment automate_waypoints	Start automation

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