TPS AI-ET Autonomy Stack

This is cloned implementation of the AA174/274 Autonomy Stack

Setup machine and build instructions.

1. Follow this guide.

Launch Files

Before launching anything, make sure either a hardware or simulated turtlebot is running, i.e. run one of the following launches first:

ros2 launch asl_tb3_driver bringup.launch.py    # on hardware
# or
ros2 launch asl_tb3_sim <world>.launch.py       # on desktop

where <world> can be chosen from [root, arena, project_city, maze, signs]

Heading Controller

ros2 launch asl_tb3_autonomy heading_control.launch.py

This launch file achieves pose stabilization control. Target pose can be set from RVIZ.
Note: this controller controls orientation only.

Navigator

ros2 launch asl_tb3_autonomy navigator.launch.py

This launch file achieves navigation around obstacles using a switching controller. Target pose can be set from RVIZ. Planned trajectory from A* will be visualized in green and the smoothed trajectory will be visualized in blue.

Frontier Explorer

ros2 launch asl_tb3_autonomy frontier_exp.launch.py

This launch file achieves autonomous frontier exploration. Set an initial RVIZ goal to start the exploration process. When the exploration is done, you should see the following printout in console:

Finished exploring