Description
You have the following environment, with four markers in the environment, with IDs 11, 12, 13, and 15.
Develop a ROS package that lets a mobile robot endowed with a camera:
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find all markers in the environment
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go back to the initial position
However, you have some hints about the position of marker. You know that:
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marker 11 is visible from the position x = 6.0, y = 2.0
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marker 12 is visible from the position x = 7.0, y = -5.0
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marker 13 is visible from the position x = -3.0, y = -8.0
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marker 15 is visible from the position x = -7.0, y =-1.5
Implement the assignment both in simulation (the world file assignment2.world is given) and with the real robot.
You can implement the task in groups of 4-5 persons. Feel free to split the work, by having different persons working on certain aspects of the task (e.g. robot model, simulation, marker detection, …)
Requirement:
– you should use ROSPLAN (or PlanSys2) to plan the actions of the robot
Working with the real robot, you can connect to your Rosbot by following this procedure:
– connect to the network TP_LINK (Password is 03694008)
– login in ssh to husarion@<husarion_ip> (192.168.1.xxx).
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once connected, run the tutorial_2 launch file:
roslaunch tutorial_pkg all.launch
This will start the drivers of the camera and of the robot controller
– to run the aruco_ros package directly on the rosbot, please use: https://github.com/pal-
robotics/aruco_ros/tree/melodic-devel . Alternatively, you can run it on your pc by sharing the ROS master.
Also, you can use the scp protocol to copy files on the rosbot.
– In simulation, you can spawn the rosbot in the gazebo environment (https://github.com/husarion/rosbot_ros)
In ROS,
roslaunch gazebo_ros empty_world.launch
roslaunch rosbot_bringup rosbot_gazebo.launch
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In ROS2 the Rosbot package should work only with the “humble” version and a specific. If you don’t have that version, but you want to use ROS2, feel free to use one of the other robots used during the class
