This repository supports the development of the ground robotics challenge from RASC.
Keywords: Challenge, Ground-robotics, Turtlebot3
Sharp your spear!
For a good development it is suggested that you perform the following tutorials
Developing skills and knowledge in navigation is very important for a researcher in the field of robotics, in view of the growth of mobile robotics applied to the theme "robots in terrestrial environment", it is necessary to develop mechanisms that solidify knowledge in a practical way. Concepts such as SLAM, State-machine, computer vision and localization are quite recurrent in this context, so, the Heavy Hull challenge proposes the systematic application of these concepts in order to strengthen future developments.
The objective is to carry out the mission obeying the prerequisites.
The Turtlebot 3 must go through a delimited environment starting at the start point highlighted in the example environment, being positioned with the camera facing away from the entrance. The mission environment is similar to a maze, composed of two corridors and with the 3 previously placed fiducial markers. The robot must go through the environment completely and reach the end point, at the end of the route (arrival at the final point) there will be an object that must be identified.
The object to be identified is an orange ball
The markers used must be of the ArUco type
- The challenge must be performed using ROS2
- For autonomous navigation, state-machine must be used
- The simulation and real environment must be built based on the example environment
- The Turtlebot 3 must make the environment map while executing the mission
- The Turtlebot 3 must use three fiducial markers for localization
Anderson Lima : eng.andersonfsl@gmail.com Marco Reis : marcoreis@fieb.org.br
For more codes visit BIR - BrazilianInstituteofRobotics For more informations visit RASC