Sensor Data Manipulation for Robot Control

Objective

This assignment is focused on utilizing sensor data to control robots effectively. You will work on restructuring code, designing software flow, and implementing maze-solving and line-following behaviors in a simulated environment using ROS 2 and Gazebo. You will also learn how to debug and fix errors in your code.

Tasks

Task 1: Restructure Line Following Project Code

1. Refactor the existing line-following project code to improve its structure and readability based on the principles discussed in the lectures.

Task 2: Design Software Flow for Maze Solving

1. Create a software flow design for maze-solving:
2. Draw the design by hand or online using tools like Excalidraw.
3. Add the design to your GitHub repository.

Task 3: Implement Maze Solving in Gazebo

1. Create a maze environment in Gazebo:
2. The maze should have a square shape.
3. The robot should keep the maze structure on its right while navigating.
4. Detect the wall on the right using a LIDAR sensor.
5. Utilize TurtleBot3’s IMU sensor to calculate:
6. Velocity
7. Acceleration

Task 4: Fix Errors in Launch Files

1. Successfully run the robot_sensing_debug packge by removing errors and
2. Document the error debugging process.
3. Provide a summary of the errors encountered and how they were resolved.

Submission Process

1. Create Files:
2. Navigate to the module_4_assignment package.
3. Create the required files, including the maze environment, refactored code, and debugging documentation.
4. Document Your Work:
5. Create a README.md file in the module_4_assignment package.
6. Provide details about the files you created, including explanations of the code and the commands needed to run your simulations and tests.
7. Submit Your Assignment:
8. Push your changes to your forked repository.
9. Provide your repository link in the assignment submission text area.
10. Note: Ensure you press the “Start Assignment” button when you see the page (as it takes time to generate the pages).
11. Wait for Review:
12. Wait for the instructors to review your submission.

Learning Outcome

By completing this assignment, you will:

1. Learn to control robots based on sensor data.
2. Improve your skills in debugging and fixing issues in complex robotic systems.