Turtlebot Perception Challenge

This repository contains the code and resources for the ENPM673 Turtlebot Perception Challenge, a project focused on perception, detection, and navigation using a simulated Turtlebot in a Gazebo environment. The project leverages ROS2 for robot control, sensor integration, and perception tasks such as ArUco marker detection and object recognition using YOLOv8.

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Table of Contents

• Project Structure
• Installation & Build Instructions
• Running the Project
  • Python Version
  • C++ Version
• Gazebo Simulation
• Camera Image Visualization
• Manual Turtlebot Control
• Troubleshooting
• License

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Project Structure

├── enpm673_final_proj/           # Main ROS2 package
│   ├── CMakeLists.txt
│   ├── package.xml
│   ├── enpm673_module/
│   │   ├── __init__.py
│   │   ├── aruco_detector.py
│   │   └── enpm673_final_proj.py
│   ├── launch/
│   │   └── enpm673_world.launch.py
│   ├── models/                   # Gazebo models (YOLO, ArUco, etc.)
│   ├── scripts/
│   │   └── enpm673_final_proj_main.py
│   ├── src/
│   │   └── enpm673_final_proj.cpp
│   └── worlds/
│       └── enpm673.world
├── perception_pkg/               # Additional perception package
├── screenshots/                  # Images and videos for documentation
├── pose.txt
├── README.md
└── LICENSE

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Installation & Build Instructions

1. Clone the repository:

   git clone https://github.com/TommyChangUMD/ENPM673_turtlebot_perception_challenge.git
   cd ENPM673_turtlebot_perception_challenge/

2. Source ROS2 and build the package:

   source /opt/ros/humble/setup.bash
   colcon build --symlink-install --packages-select enpm673_final_proj

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Running the Project

Python Version

1. Source the workspace:

   source install/setup.bash

2. Run the main Python node:

   ros2 run enpm673_final_proj enpm673_final_proj_main.py

   • Main source files:
     • enpm673_final_proj.py
     • enpm673_final_proj_main.py

C++ Version

1. Source the workspace:

   source install/setup.bash

2. Run the C++ node:

   ros2 run enpm673_final_proj cpp_enpm673_final_proj

   • Main source file:
     • enpm673_final_proj.cpp

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Gazebo Simulation

To launch the Gazebo simulation with the custom world:

source install/setup.bash
source /usr/share/gazebo/setup.bash   # May not be needed on all systems
ros2 launch enpm673_final_proj enpm673_world.launch.py "verbose:=true"

• The Gazebo world file is located at: enpm673.world

To stop the simulation, press Ctrl+C in the terminal.

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Camera Image Visualization

To view the camera feed using rqt_image_view:

source /opt/ros/humble/setup.bash
ros2 run rqt_image_view rqt_image_view /camera/image_raw

!rqt_image_view

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Manual Turtlebot Control

You can manually drive the Turtlebot using teleoperation packages such as teleop_twist_keyboard:

source install/setup.bash
ros2 run teleop_twist_keyboard teleop_twist_keyboard

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Troubleshooting

• Ensure all dependencies are installed and sourced correctly.
• If Gazebo models do not appear, verify the models directory is installed to the correct location.
• For ROS2 or Gazebo issues, consult the official documentation or check environment variables.

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License

This project is licensed under the terms of the LICENSE file.

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