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Project3

To launch in gazebo follow the command:

  ros2 launch my_robot_description gazebo.launch.py

To launch in rviz follow the command:

  ros2 launch my_robot_description display.launch.py

To move the robot in gazebo follow the command (run in new terminal):

  ros2 run teleop_twist_keyboard teleop_twist_keyboard

To check if odomtery is running smoothly follow the command:

  ros2 launch my_robot_description level5.launch.py
  ros2 topic list
  ros2 topic info /my_robot/imu
  ros2 topic info /my_robot/odom

Check if these 2 topics have 1 publisher and 1 subscrciber

  ros2 node info /ekf_filter_node

Check the output seen on terminal against the output shown below:

       /ekf_filter_node
  Subscribers:
    /demo/imu: sensor_msgs/msg/Imu
    /demo/odom: nav_msgs/msg/Odometry
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /set_pose: geometry_msgs/msg/PoseWithCovarianceStamped
  Publishers:
    /accel/filtered: geometry_msgs/msg/AccelWithCovarianceStamped
    /diagnostics: diagnostic_msgs/msg/DiagnosticArray
    /odometry/filtered: nav_msgs/msg/Odometry
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /rosout: rcl_interfaces/msg/Log
    /tf: tf2_msgs/msg/TFMessage
  Service Servers:

Run the following command and check against the frames.pdf:

  ros2 run tf2_tools view_frames

To run both rviz and gazebo follow the command:

  ros2 launch my_robot_description level5.launch.py use_rviz:=True

To run mapping node, make sure SLAM Toolbox is installed. If it isn't, run:

  sudo apt install ros-foxy-slam-toolbox

Then use the following command to run the node:

  ros2 launch my_robot_mapping online_async_launch.py

To see the map topic for mapping, click "add" on the bottom left hand corner of rviz. Click on "topics" and select "Map"

NOTE: THE SLAM TOOLBOX NODE HAS TO BE RUNNING IN ORDER TO SEE THE "Map" TOPIC

To run navigation:

  ros2 launch my_robot_navigation my_robot_navigation.launch.py

Robot moving from one point to another, use command:

  ros2 run my_robot_commander my_robot_commander

NOTE: Run the nodes from Final Folder as it contains the final design of the kiosk

----------------------------------------------Updates-------------------------------------------------------------------

Changes made to files

  1. package.xml: added robot_localization dependencies
  2. my_robot.xacro: added base_footprint link and base_joint join
  3. my_robot.gazebo: created a ros namespace "/my_robot" 
  4. config folder: created a new ekf.yaml file to fuse the odometry information given by the sensors through the use of state estimation nodes.
                    It can also publish the odom => base_link transform on the /tf topic.
  5. level5.launch.py: added a robot_localization node
  6. my_robot_mapping: created pkg for mapping
  7. my_robot_navigation: created pkg for navigation of robot
  8. my_robot_commander: created pkg for autonomuous movement