TurtleBot Navigation System

This project implements an autonomous navigation system using ROS2 and Nav2. The TurtleBot robot is configured to move in a simulated environment (and potentially real) following specific goals and saving navigation data for analysis.

Simulation

Download Simulation Video

Download and watch the robot simulation in action

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Table of Contents

• TurtleBot Navigation System
  • Simulation
  • Download Simulation Video
  • Table of Contents
  • Commands to Execute Visualization
  • Introduction
  • Prerequisites
  • ROS2 Configuration
    • Ubuntu Installation
    • ROS2 Installation
  • Installation of necessary packages Nav2
  • Project Import
  • Launching the simulation
  • Node Structure
    • Main node: move_turtle_AB
    • Support nodes
  • Launching the nodes
  • Data Visualization
  • Map Configuration
  • Simulation Phases
  • Future Developments
  • Authors and Contacts

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Commands to Execute Visualization

Introduction

The project combines robotics and mobility support to assist patients in a rehabilitation context. It includes the configuration of ROS2, Nav2, RViz, and Gazebo for TurtleBot simulation.

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Prerequisites

• Ubuntu 22.04 with ROS2 Humble installed.
• WSL2 (if on Windows).
• Necessary Python packages installed (see requirements.txt).

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ROS2 Configuration

Ubuntu Installation

1. Enable WSL:

   wsl --install

2. Install Ubuntu Jellyfish:

   wsl --install -d Ubuntu-22.04

3. Configure the environment:

   wsl -d Ubuntu-22.04

ROS2 Installation

1. Configure UTF-8:

   locale  # check for UTF-8
   
   sudo apt update && sudo apt install locales
   sudo locale-gen en_US en_US.UTF-8
   sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
   export LANG=en_US.UTF-8
   
   locale  # verify settings

2. Make sure Ubuntu Universal Repository is enabled

   sudo apt install software-properties-common
   sudo add-apt-repository universe

3. Add ROS2 GPG key

   sudo apt update && sudo apt install curl -y
   sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

4. Add the repository to the source list:

   echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

5. Before starting the installation, check all packages:

   sudo apt update
   sudo apt upgrade

6. Install ROS2 and additional packages:

   sudo apt install ros-humble-desktop
   sudo apt install ros-dev-tools

7. Run this command to configure the ROS 2 environment in your current shell

   source /opt/ros/humble/setup.bash

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Installation of required packages Nav2

1. Install Nav2 packages:

   sudo apt install ros-humble-navigation2 ros-humble-nav2-bringup

2. Install TurtleBot packages for Gazebo:

   sudo apt install ros-humble-turtlebot3-gazebo

To allow proper startup, launch the base project for safety

   source /opt/ros/humble/setup.bash
   export TURTLEBOT3_MODEL=waffle
   export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/humble/share/turtlebot3_gazebo/models
   source /usr/share/gazebo/setup.bash
   ros2 launch nav2_bringup tb3_simulation_launch.py

If it doesn't work, restart the platform you are working on.

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Project Import

1. Clone the GitHub repository:

   git clone https://github.com/tetano02/turtlebot_workspace.git

2. Export files to Nav2 directories:

   sudo mkdir /opt/ros/humble/share/turtlebot3_gazebo/models/planimetria_santanna
   sudo cp -r ~/turtlebot_workspace/src/turtlebot_controller/models/planimetria_santanna/* /opt/ros/humble/share/turtlebot3_gazebo/models/planimetria_santanna

3. Replace the Gazebo texture file:

   sudo rm /usr/share/gazebo-11/media/materials/scripts/gazebo.material
   sudo cp ~/turtlebot_workspace/src/turtlebot_controller/gazebo.material /usr/share/gazebo-11/media/materials/scripts/

4. For the correct functioning of the project, also execute the following commands

   pip install pandas
   pip upgrade matplotlib

   If the last command doesn't work, use the following command.

   pip install --upgrade matplotlib

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Launching the simulation

1. Prepare the environment:

   source /opt/ros/humble/setup.bash
   export TURTLEBOT3_MODEL=waffle
   export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/humble/share/turtlebot3_gazebo/models

   If it doesn't work, also add this command

   source /usr/share/gazebo/setup.bash

2. Build the workspace:

   cd turtlebot_workspace
   colcon build
   source install/setup.bash

3. Launch the simulation:

   ros2 launch turtlebot_controller tb3_santanna_launch.py

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Node Structure

Main node: move_turtle_AB

• Manages autonomous navigation from point A to point B.
• Estimates the initial position and sends goals via the Action Client.

Support nodes

• turtle_distance_publisher: Calculates and publishes the distance traveled.
• turtle_csv_handler: Saves navigation data in CSV format.

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Launching the nodes

To launch the nodes follow these commands

1. Open a new tab from terminal.
2. Build the workspace:

   cd turtlebot_workspace
   colcon build
   source install/setup.bash

3. Launch the node that publishes the distance: Node that publishes the distance:

   ros2 run turtlebot_controller turtle_distance_publisher

4. Execute steps 1 and 2 again
5. Launch the node that creates csv files with robot data: Node that creates csv:

   ros2 run turtlebot_controller turtle_csv_handler

6. Execute steps 1 and 2 again
7. Node that allows the robot to move:

   ros2 run turtlebot_controller move_turtle_AB

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Data Visualization

After launching the simulation and the nodes, to visualize the simulation data it is necessary to execute the following commands.

   cd ~/turtlebot_workspace/src/turtlebot_controller/script_python
   python3 elaborate_data.py

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Map Configuration

1. The floor plan was converted to .pgm format and parameters set in the .yaml file.
2. Gazebo was configured with reference files and by adding downloaded models.

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Simulation Phases

1. Movement to destination: The robot moves towards the bed, saving data.
2. Return to base: By pressing a simulated button, the robot returns to the initial position.

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Future Developments

• Implementation on real hardware with:
  • Walker configuration.
  • Testing in real hospital environments.
• Improvements to the user interface and navigation system reliability.

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Authors and Contacts

For information or bug reports, contact the development team:

• Stefano Agnelli
• Michele Giovanelli
• Wen Wen Sun