apolo151 / debi_solution

This repo contains our team's solution to the DEBI robotics challenge

This repo contains our team's solution for the DEBI robotics challenge

Competition Guide

Data for ML approaches

How to run the simulator

Install Dependencies

Make sure you installed ROS noetic or install it following the steps here: ROS wiki

rosdep install --from-paths src --ignore-src -r -y
sudo apt-get install ros-noetic-moveit-*
sudo apt-get install ros-noetic-joint-* 

Buid the Workspace

catkin_make

Run the simulator
⚠️ It's easier to put export TURTLEBOT3_MODEL=waffle_pi in the .bashrc
Terminal 1

source devel/setup.bash
export TURTLEBOT3_MODEL=waffle_pi
roslaunch turtlebot3_manipulation_gazebo turtlebot3_manipulation_gazebo.launch

Terminal 2

source devel/setup.bash
export TURTLEBOT3_MODEL=waffle_pi
roslaunch turtlebot3_manipulation_moveit_config move_group.launch

Terminal 3

source devel/setup.bash
export TURTLEBOT3_MODEL=waffle_pi
roslaunch turtlebot3_manipulation_moveit_config moveit_rviz.launch

Run Solution Packages

Robot Control package

rosrun move_robot move_robot.py

Gather Image Data

Open Three Terminals

source devel/setup.bash
export TURTLEBOT3_MODEL=waffle_pi
roslaunch solution gather_image_data.launch

source devel/setup.bash
export TURTLEBOT3_MODEL=waffle_pi
cd src/turtlebot3_manipulation_simulations/turtlebot3_manipulation_gazebo/scripts
python3 spawn_three_balls.py

source devel/setup.bash
export TURTLEBOT3_MODEL=waffle_pi
cd src/perception/image_data
rosrun perception get_image_data.py

• Start the simulator
• Repeat for each test case

Gather Distance and Radius Data

Open Two Terminals

source devel/setup.bash
export TURTLEBOT3_MODEL=waffle_pi
roslaunch solution gather_distance_radius_data.launch

• Set the blue ball coordinates from the simulator to (x=2.5, y=0.0)

• Start the simulator

• from the directory you want the .csv file to be saved to

source devel/setup.bash
export TURTLEBOT3_MODEL=waffle_pi
rosrun solution radius_to_distance.py

Run The Final Solution

source devel/setup.bash
export TURTLEBOT3_MODEL=waffle_pi
roslaunch control solution.launch