COM2009 Challenge: TurtleBot3 Exploration and Color Detection

This repository contains the code and resources for the COM2009 challenge, where we used ROS and Gazebo to explore and map a workspace using the TurtleBot3. The project involves autonomous navigation and color detection within an unknown 2D environment.

Project Overview

In this project, the TurtleBot3 explores an unknown workspace consisting of multiple rooms, each containing a uniquely colored cylinder. The main objectives are:

1. Color Specification: The user specifies the color of the cylinder they want to locate.
2. Autonomous Exploration: The TurtleBot3 starts exploring the environment to locate the specified colored cylinder.
3. Image Capture: Once the cylinder is located, the robot captures an image of it.
4. Map Saving: Simultaneously, the robot maps the environment, and the map is saved for further analysis.

Key Features

• ROS Integration: Leveraged the power of ROS (Robot Operating System) for robot control and navigation.
• Gazebo Simulation: Utilized Gazebo for simulating the TurtleBot3 and the environment.
• Autonomous Navigation: Implemented algorithms for autonomous exploration and navigation within the 2D map.
• Color Detection: Integrated color detection capabilities to identify and locate the specified cylinder.
• Mapping: Real-time mapping of the environment during the exploration process.

Getting Started

To get started with this project, follow these steps:

1. Clone the Repository: In your catkin workspace src folder:

   git clone https://github.com/seifEddy/seifEddy.git
   cd com2009_team00

2. Install Dependencies: Ensure you have ROS and Gazebo installed. Follow the instructions here for ROS installation and here for Gazebo. You also need to install tuos_ros package here. Finally, set the TURTLEBOT3_MODEL environment variable to waffle for instance export TURTLEBOT3_MODEL=waffle.

3. Run the Simulation: Launch the simulation environment:

   roslaunch com2009_simulations task4.launch

   and start the TurtleBot3 exploration:

   roslaunch com2009_team00 task4.launch target_colour:<desired-color>

   start the exploration:

   rosservice call /move_service "request_signal: true" 

Usage

• Specify the color of the cylinder you want the TurtleBot3 to locate.
• The robot will autonomously explore the environment, locate the cylinder, capture its image, and save the map.

Contributing

Contributions are welcome! Feel free to open issues or submit pull requests.