Capstone

UofT MIE443 Capstone

Setup

system requirements: Ubuntu 16.04

run turtlebot_script.sh to install ROS and Turtlebot2 (might take a while)

*bin/, *build and *devel directories are ignored from git

in order for os to locate our mie443_contest1 package, do this in bashrc file

export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/catkin_ws/src/Capstone

remember to setup workspace before running any contest package/code

source catkin_ws/devel/setup.bash 

Kill ros processes (forcefully)

pkill -f ros

Reset Gazebo (properly)

http://answers.gazebosim.org/question/15085/gazebo-world-reset-using-ros/

Launch

Version 1

simulation run for contest 1, for each of the following line, launsh in a separate terminal

roscore
# load map and bot 
roslaunch mie443_contest1 turtlebot_world.launch
# run slam 
roslaunch mie443_contest1 gmapping.launch
# run rviz viewer
roslaunch turtlebot_rviz_launchers view_navigation.launch   
# control logic 
rosrun mie443_contest1 contest1

# optional, view subscribed messages (e.g. for bumper)
rostopic echo /mobile_bash/events/bumper​

Version 2

Note: First, remember to setup workspace before running any contest package/code (only once)

source catkin_ws/devel/setup.bash 

run simulation with 1 command

• execute roscore in separate terminal only once
• every time you want to run contest 1, go to ~/catkin_ws/src/Capstone/mie443_contest1 and launch

bash run.sh 

• by default, it loads world/robot, launches gmapping/slam, rviz and runs the control executable
• use -e <name> or --executable <name> to run different executable, e.g. contest1 or reference
• to kill after finish running, press Enter in the launch terminal (this will kill all child terminals)
• you can save map by enabling -s or --save_map, this will save the map named map after shutdown; to change map name, provide argument -m <name> or --map_name <name>
• to run on real robot, enable -r or --real, this will bring up real turtlebot configuration instead of simulation

Bringup turtlebot

• roslaunch turtlebot_bringup minimal.launch #Initializes the TurtleBot base hardware

Miscellaneous

to reset gazebo simulation without shutting down (don't seem to work tho)

rosservice call /gazebo/reset_world

Links

MIE quercus page: https://q.utoronto.ca/courses/139490

IP address

get ip address

hostname -I | awk ’{print $1}’

S09 machine: 100.64.76.236 9 machine:

launch vnc on turtlebot machine

x11vnc -ncache 10

port is 5900

Version 2

run contest 2 code

# load map and bot 
roslaunch mie443_contest2 turtlebot_world.launch world:=1

# run acml, replace map_file location with your own location 
roslaunch turtlebot_gazebo amcl_demo.launch map_file:=/home/yt1234gary/catkin_ws_mie/src/Capstone/mie443_contest2/boxes_database/maps/map_1.yaml
 
# run rviz to check if correct map is loaded for acml
roslaunch turtlebot_rviz_launchers view_navigation.launch

# control logic 
rosrun mie443_contest2 contest2

# optional after running above commands, may reset costmap if there are errors:
rosservice call /move_base/clear_costmaps

things to do: 0) figure out if we need to localize robot if the starting location is not 0, 0, 0

1. check if image recognition parts are working (most likely there are problems)
2. check if viewpoints are being generated correctly (they might be generated backwards)
3. check if there are ways to unstuck the robot during move to goal better (possibly tied to incorrect viewpoint generation/unsuccessful starting localization)
4. ensure whole pipeline runs properly