Sensor’s 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.