Robot Teleoperation

Robust outdoor teleoperation to increase efficiency and reduce costs based on ROS

Instructions

• add the xacro file in the turtle_pkg/urdf to the turtlebot3_description/urdf (copy pase or replace)
• install dependencies ''' sudo apt-get install ros-kinetic-gps-goal ros-kinetic-swri-transform-ut '''
• compile the packages and source them
• run the cmd

export TURTLEBOT3_MODEL=waffle_pi

• install the geographiclib pkg

pip install geographiclib rospkg

-- install dependencies for python3

sudo apt-get install python3-pip python3-yaml
sudo pip3 install rospkg catkin_pkg
pip3 install matplotlib

• launch the gps_main.launch file ''' roslaunch turtle_pkg gps_main.launch '''
• after launching it

To Do

• Step to run Robot
• Setup web server
• Publish Image Data to web browser
• Publish topic through web page
• GUI for the robot
• Unit Test Added
• Waypoint Navigation with GPS
• Real-time GPS location
• Draw polygon on the map

Steps

Test Result

Publishing the image stream to the web

Steps to add Kinect sensor to the turtlebot3

• go the the turtlebot3_description pkg and open the turtlebot3_waffle_pi.gazebo.xacro

• compile the pkg and source the files

• launch the file gps_main.launch in the turle_pkg

• then add the following code:

<xacro:include filename="$(find kinect_v2)/urdf/kinect_v2.urdf.xacro" />

  <xacro:kinect_v2  parent="base_link">
    <origin xyz="0 0 0.1" rpy="0 0 0"/>
 </xacro:kinect_v2>

GPS Navigation Steps

• install the pkgs by sudo apt-get install ros-kinetic-gps-goal ros-kinetic-swri-transform-util

• compile the pkgs and source them

• then launch the gps_main.launch file from the turtle_pkg

Steps to add GPS plugin to the robot

• install hector gps plugin

sudo apt-get install ros-melodic-hector-gazebo-plugins
'''
- go to the turtlebot3_description pkg 
- find the turtlebot3_waffle_pi.gazebo.xacro
- add the following code between the robot tag

true 1.0 base_link /fix /fix_velocity 5.0 5.0 5.0 0.1 0.1 0.1 0 0 0 0.1 0.1 0.1 ```

Two TurtleBot3 Robots

Steps to launch the two husky robot

• got to gui folder of robot_gui_bridge and run this command

roslaunch turtle_pkg main.launch

• roslaunch turtle_pkg two_turtlebot3.launch
• roslaunch robot_gui_bridge websocket.launch
• now you can open the browser and go to the url

localhost:8000

• find the robot_teleoperation.html file from there and you are ready to go. =======

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Test Result

Publishing the image stream to the web

UI Changes