Challenge 1

The goal of the challenge is to demonstrate the capability of a robot to move in a cluttered environment with a possibility to see what the robot see.

Expected

The robot is positioned somewhere in a closed area (i.e. an area bounded with obstacles).

The robot moves continuously in this area while avoiding the obstacles (i.e. area limits and some obstacles randomly set in the area).

The sensor data (scan, vision) and potentially other information (considered obstacles, frames,...) is visible on rviz.

The robot trajectory would permit the robot to explore the overall area. In other words, the robot will go everywhere (i.e. the probability that the robot will reach a specific reachable position in the area is equal to 1 at infinite time).

One first approach can be to develop a ricochet robot that changes its direction randomly each time an obstacle prevent the robot to move forward.

consigns

Each group commit the minimal required files in a specific grp_'machine' ros2 package inside their git repository.

Release: Monday afternoon of week-3 (Monday 15-01-2024)

The required files:

• At the root repository, a README.md file in markdown syntax introducing the project.

• A directory grp_'machine' matching the ROS2 package where the elements will be found (machine matches the name of the machine embedded on the robot).

• Inside the grp_'machine' package, a launch file simulation_launch.yaml starting the appropriate nodes for demonstrating in the simulation.

• Then, a launch file tbot_launch.yaml starting the appropriate nodes for demonstrating with a tbot.

• Finally, a launch file visualize.launch.py starting the appropriate nodes including rviz2 to visualize (the idea is that we could use to computer on a same domain id. one to control the robot, one for visualization).

In simulations, we will work with the configuration set in challenge-1.launch.py.

Criteria

Minimal:

1. The group follows the consigns (i.e. the repository is presented as expected)

2. The robot behavior is safe (no collision with any obstacles)

3. rviz2 is started and well configured.

4. The robot moves everywhere in it environment.

5. A String message is sent in a detection topic each time a bottle is front of the robot.

Optional:

1. An operator can take the control of the robot at any time.

2. The robot movement is fluid (no stop), fast and the robot moves smoothly even in small areas

Evaluation protocol (for evaluators...)

Here the evaluation protocol applied. It is highly recommended to process it yourself before the submission...

1. clone the group’s repository

2. Take a look to what is inside the repository and read the README.md file (normally it states that the project depends on mb6-tbot, make sure that mb6-tbot project is already installed aside).

3. make it: colcon build and source from the workspace directory.

4. Launch the simulation demonstration: ros2 launch challenge1 simulation.launch.py and appreciate the solution.

5. Stop everything.

6. Connect the computer to the robot, the hokuyo and the camera.

7. Launch the Turtlebot demonstration, and appreciate the solution.

8. Take a look to the code, by starting from the launch files.