2024 TalTech Internship Codes

Overview

This repository contains two ROS2 packages I designed for the SLAM experiments with the Turtlebot4 robot. These packages introduce noise for testing the robustness of SLAM algorithms.

Packages

1. Package 1: [turtlebot4_slam_noise]

   • This package contains the programs that generate visual and LiDAR noise for the experiment. The two main programs are:
     • visual_noise.py: Introduces visual noise to the camera data.
     • lidar_dust_noise_v4.py: Adds noise to the LiDAR data.
   • Additional programs that were not part of the final experiment are stored in the 'milestone_codes' directory.

2. Package 2: [turtlebot4_bringup]

   • This package contains the launch and configuration files required to setup the visual and LiDAR noise experiments.

Table of Contents

• Installation
• Dependencies
• Usage

Installation

To install and build the packages, follow these steps:

1. Clone the repository into your ROS2 workspace:

   cd ~/ros2_ws/src
   git clone https://github.com/SimonMartineau/turtlebot4-project.git

Dependencies

Here's how to install the packages and get the code working:

1. NAV2:
   Follow the installation guide here.

2. RTAB-Map:
   Follow the installation guide here.

3. Modifications:

   • For NAV2, modify the following file:

     • File: src/turtlebot4/turtlebot4_navigation/config/slam.yaml
     • Change: On line 16, replace:

       'scan_topic: scan',

       with:

       'scan_topic: scan_modified',

       This change ensures NAV2 subscribes to the topic with the noisy LiDAR data.

   • For RTAB-Map, modify the following file:

     • File: install/rtabmap_launch/share/rtabmap_launch/launch/rtabmap_bringup.launch.py
     • Change: On line 57, replace:

       'rgb_topic': '/camera/pi3/color/image_raw',

       with:

       'rgb_topic': '/image_modified',

       This change ensures RTAB-Map subscribes to the topic with the noisy image data.

Usage

1. Configure Noise Settings:
   In the turtlebot4_bringup/config folder, modify the .yaml files to adjust the visual and LiDAR noise settings according to your experiment requirements.

2. Build and Source Workspace:
   Ensure that your ROS 2 workspace is built and sourced:

   colcon build
   source ~/ros2_ws/install/setup.bash
   

3. Run Noise Experiments:
   You can run the noise experiments using the launch file:

   ros2 launch turtlebot4_bringup all_noise.launch.py
   
   

4. Run NAV2 or RTAB-Map:
   After the noise experiments are running, you can launch either NAV2 or RTAB-Map:

   • For NAV2:

     ros2 launch turtlebot4_bringup start_nav2.launch.py

   • For RTAB-Map:

     ros2 launch turtlebot4_bringup start_rtabmap.launch.py