ROS CODES

• This repository contains my catkin workspace in one place.

Usage :

Autonomous Navigation from starting to goal

• roslaunch turtlebot3_gazebo turtlebot3_house.launch
• roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=/home/bot/tb3_house_map.yaml
• Go to the directory where navGoal.py is present. Run the script by ./navGoal.py

1.0.1 (code)

ROS Topics - Publisher and Subscriber (FINISHED)

• Talker and Listener working in ros_basics_tutorials

1.0.2 (code)

ROS Topics - Publisher and Subscriber (UNFINISHED)

• Having problem with running .py
• Turtle bot simulator working.

1.0.3 (bug)

ROS TOpics - Custom messages (UNFINISHED)

• Custom messages for ros packages is not complete. In IOT sensor .cpp was having some syntax error with the code.
• And for .py file the error was (ModuleNotFoundError: No module named 'yaml')
• ModuleNotFoundError: No module named 'rospkg'

1.0.4 (code + bugfix)

ROS TOpics - Custom messages (FINISHED)

• Custom messages are added and completed.
• #!/usr/bin/env python2.7 - needed to add 2.7 in this or else it was clashing with python3.8
• yaml problem solved.
• made changes in CmakeList, added generate messages() or else it was not working.
• iot_sensor_sub.py and iot_sensor_pub.py is working.
• Next need to look into .cpp

1.0.5 (code)

ROS Services (UNFINISHED)

• Used turtle bot service
• server and client
• Created custom services
• Add three Int server and client

1.0.6 (code + bugfix)

ROS Services (FINISHED)

• Problem with IoT sensor Publisher cpp was removed.
• Added IoT Sensor Publisher Cpp code
• IoT sensor Subscriber Cpp is left, some error with callback func.
• custom services python working
• need to add custom service Cpp code.

1.0.7 (code + bugfix)

ROS TOpics - Custom messages (FINISHED)

• Solved the problem with custom message code in Cpp
• Added a new package named turtlesim_cleaner_bot
• Next thing to do Service in Cpp
• to do Motion in ROS.

1.0.8 (bug)

Motion in ROS - Moving in Straight line (UNFINISHED)

• Motion in ROS not working.
• turtle_cleaner_bot package not working.
• catkin_make error
• ros.h not found error :/

1.0.9 (code + bugfix)

Motion in ROS - Moving in Straight line (FINISHED)

• Straight line Motion of cleaner bot working.
• Needed to make some changes in Cmake
• Added code for the user to give input of motion.
• working fine.

1.0.10 (bug)

Motion in ROS - Rotate Left and Right (UNFINISHED)

• Code is in the middle, have errors.
• adding a subscriber for our motion in ros code.
• not finished, there are bugs.

1.0.11 (code + bugfix)

Motion in ROS - Rotate Left and Right (FINISHED)

• set desired orientation is working.
• left, right, forward, backward, rotate motion is working.

1.0.12 (code)

Motion in ROS - Go to Goal (FINISHED)

• added move to goal fuction for the turtlesim bot.
• added proportional control for moving to the desired location.

1.0.13 (code)

Motion in ROS - Spiral Control and Cleaning Application (FINISHED)

• added grid cleaning algorithm for the turtle bot.
• added spiral cleaning algorithm for the bot.
• made necessary changes in main function.

1.0.14 (code + bug)

CV in ROS with openCV - Install openCV (FINISHED)

• Anaconda 3 installed python3, which was creating problem with python2.7
• openCV was not working because of the environment clash between Python2.7 and Python3.8
• removed anaconda3 from the system
• rm -rf ~/anaconda3
• After everything is working fine.
• openCV is working not giving any module or package error.

1.0.15 (code)

CV in ROS with openCV - openCV open and save image files (FINISHED)

• Added a folder named perception
• Added folder with images
• Added code for opening and saving an image file using openCV
• image get copied in a folder named copy inside image folder.

1.0.16 (code)

CV in ROS with openCV - openCV pixels and image structure (FINISHED)

• Added a folder named imageStruct
• Added code for determining image pixels, image length , width, channels
• used numpy and openCV

1.0.17 (code)

CV in ROS with openCV - openCV image encoding (FINISHED)

• Added a folder named imageEncoding
• Added code for red,green,blue scale images
• Added code for converting to HSV images
• Added code for converting to grayscale images.

1.0.18 (code)

CV in ROS with openCV - openCV video streams input and drawing shapes (FINISHED)

• Added code for video streaming in ros
• Video is streamed from both Webcam and also from saved video
• did a little video processing on the videos
• converted to gray scale videos
• added code for drawing different shapes

1.0.19 (code + bug)

CV in ROS with openCV - CvBridge Bridging (UNFINISHED)

• Added the code for cv bridge
• having issues with usb cam package cloning and use.
• having problem in sourcing setup.bash
• need to solve the problem of cv Bridge in ROS

1.0.20 (code + bugfix)

CV in ROS with openCV - CvBridge Bridging (FINISHED)

• Finished the cv Bridge part
• USB cam package is also working fine.
• image publisher subscriber working.
• usb cam - publisher, imagePUBandSUB - subscriber

1.0.21 (code)

CV in ROS with openCV - Simple and Adaptive thresholding (FINISHED)

• Added code for simple and adaptive thresholding.
• working fine.

1.0.22 (code)

CV in ROS with openCV - Color Filtering (FINISHED)

• Added the code for color filtering.
• converted RGB image to HSV image for easy detection.
• given the lower and upper bound for color detection.
• palyed with the thresholds for detecting the image properly.

1.0.23 (code)

CV in ROS with openCV - Contour drawing (FINISHED)

• Added code for detecting contours
• convert rgb image to gray scale
• convert it to binary by adaptive thresholding.
• draw contours on the image.
• need to complete CV in ROS with openCV

1.0.24 (code)

CV in ROS with openCV - Contour processing (FINISHED)

• added code to find the area and perimeter of contours.
• added code to draw the contours by the above steps.

1.0.25 (code)

CV in ROS with openCV - read video cpp (FINISHED)

• added cpp code for reading video
• made changes in the cmake list
• added executable for the code.

1.0.26 (code)

Rosserial with arduino (UNFINISHED)

• Installed ros_lib in arduino
• Installed other dependencies and packages.
• Used Rosserial in arduino the blink sketch and hello world.
• Next to configure ultrasonic sensor using ros.

1.0.27 (code)

Ultrasonic sensor with ROS (FINISHED)

• Added code for using ultrasonic sensor with arduino and ROS.
• Code is working fine.

1.0.28 (updates + bug)

• Added package for gazebo, my_simulation and slam gmapping.
• Could not fix the issue
• Not working.
• Started with Perception - Laser Range Finder
• Rosserial arduino is finished.
• Need to look into Laser Range Finder Module.

1.0.29 (updates + bug)

ROS Melodic - Installation of turtlebot3

• Added turtlebot 3 simulation packages.
• Added navigation and slam packages.
• made changes in bashrc by gedit .bashrc for turtlebot3
• turtle bot 3 gazebo simulation not working.
• The issue is saying Model name is not set for turtlebot 3.

1.0.30 (code + bugfix)

ROS Part II - Turtlebot3 setup (FINISHED)

• Added the export data of turtlebot 3 model name in .zshrc
• git clone ros code for part 2 from git repo
• Did basic movement with teleop in gazebo on turtlebot3

1.0.31 (bug)

ROS Part II - ROS navigation intro (UNFINISHED)

• The simulation on rviz was not working correctly
• The data shown after rostopic list is not same as the instructor.
• Need to check this part

1.0.32 (theory)

ROS part II - ROS navigation.

• studied about the ROS navigation.
• Transformation
• Rotation Matrix in 2d and 3d frames.
• Frame Change configurations.

1.0.33 (theory)

ROS part II - ROS navigation.

• got knowledge about rotation representation.
• Euler angles.
• Quaternions
• need to study about gimbal lock.

1.0.34 (code)

ROS part II - Conversions in TF package

• used tf package library in python script
• made a new package to try my codes.
• learned how to do rotation transformation from euler to quaternion and vice versa.

1.0.35 (code)

ROS part II - Reading Yaw from quaternions

• Added code for converting euler from quaternion
• subscribed to turtlebot 3 geometry messages.
• used the quaternion list to get the yaw.
• used view frame to generate a pdf file for frames

1.0.36 (code)

ROS part II - Transformation

• Added code for frames transformation broadcaster
• Added code for frames transformation listener

1.0.37 (updates)

ROS Part II - Navigation demo

• Used RVIZ and gazebo to perform navigation.
• Used 2D Pose estimate to manually estimate initial pose
• Used 2D Nav Goal to perform navigation.
• Learnt about recovery behaviour during navigation if the robot gets stuck due to obstacle and path.
• Learnt about clearing process which clears the previous static obstacles which are not there during navigation.

1.0.38 (code)

ROS part II - Navigation

• Added code for autonomous navigation of my turtlebot.
• Navigation stack working fine.
• Learnt about the map frame and local frame.
• Learnt Particle estimater.

1.0.39 (theory)

ROS part II - Navigation

• Learnt about local path planner.
• Learnt about global path planner.
• learnt about the carrot planner, navfn, global_planner.
• Dijkstra Algo + A* algo - need to study

1.0.40 (theory)

ROS part II - Navigation

• Dynamic window Algorithm for local path planner.
• Learnt about the tuning of simulation time in dwa local path planner.
• increasing the simulation time or prediction will increase the computation and consequently decrease the battery power soon.
• Trajectory tries to minimise the total cost.
• cost consists of path distance bias, goal distance bias, occdist scale

1.0.41 (theory)

ROS part II - Navigation

• Learnt about the implementation of path dist bias, goal dist bias and occ scale.
• configured the parameters dynamically using rqt_reconfigure
• path dist bias is the amount by which it will the path trajectory.
• goal dist bias is the amount by which it will reach a goal using the shortest path.
• occ scale decides the importance of distance from wall or obstacles - a high value will give more importance

1.0.42 (theory + code)

ROS part II - Navigation

• Learnt about follower application using two turtlesim
• used rosrun tf tf_echo turtle1_frame turtle2_frame to see relative position and orientation between two frames.
• used rosrun tf tf_monitor to know about the frames present.
• added code for turtlesim broadcaster and listener.
• added the launch file of turtle sim follower application.

1.0.43 (theory)

ROS part II - Navigation

• BUG algorithm
• BUG0 - head to goal straight, follow the wall if obstacle is there.
• BUG1 - head to goal straight, follow the wall if obstacle is there, go to the closest location of goal.
• BUG2 - head to goal straight, follow the wall if obstacle is there, creates a shortest line from start to goal, follow this line.

1.0.44 (code)

ROS part II - Navigation

• Need to add three turtle in turtle sim and make them follow.
• Added code for the third turtle.
• made the third turtle flow the 2nd turtle.
• updated in the launch file.

1.0.45 (code)

ROS part II - Navigation

• Added a fourth turtle in tfBroadcaster.
• roslaunch ros_nav tfBroadcaster.launch
• fourth turtle will follow the third one.

1.0.46 (theory)

• Need to study about BUG algorithm.
• Need to study about hector slam technique.
• Need to study Dijkstra ALgo and A* Algo.
• Need to find technique to install ROS in raspberry pi.
• Need to study about kinect sensor 3d Camera.
• Need to know about the working of LIDAR.
• Need to study how to convert 3D models to URDF

1.0.47 (theory)

• Learned a little about Dijkstra's algorithm and A* algo
• A* algo gives weights to a point according to starting and the goal location
• Dijkstra only gives weight according to the starting.
• Need to try different algo on solving a maze.

1.0.48 (theory)

• Learned about Kalman Filter, Monte Carlo.
• Need to look into matrices, jacobian, rotational matrices.
• Algorithms need to be added.

1.0.49 (theory)

• Studied basics about quaternion.
• Studied about gimbal lock.
• Studied how quaternion is required for representing 3d rotation.
• Need to go more into the depths of quaternion mathematics.

1.0.50 (code)

• Was trying to work with MQTT
• having some problem for python 2 environment.
• Added repo for room cleaning bot.

1.0.51 (code)

• Error in mqtt subscriber function.
• Need to start the ros course all over again.
• Started studying about the publisher subscriber and documenting it down here.

1.0.52 (repo)

• Cloned the gazebo bicycle repo to my catkin_ws
• Ran the launch file.
• Not working.
• Started making Usage commands in README.md

1.0.53 (repo)

• Cloned the bicyle_gazebo repo again in my catkin_ws
• Model is showing in gazebo
• After cloning need to make catkin_make
• Then roslaunch self_balancing_bicycle main.launch
• Added another bycle repo bicycle_model_URDF.. not working.

1.0.54 (code)

• Currently working on making the bicycle move.
• Added a world folder to add a wall in gazebo simulation