blue-ray7 / turtlebot3

Create different robot applications using Turtlebot3 burger

About The Project

This repository was made to Create different robot applications using ROS framework. It consists of a master branch and a basic_functionalities branch.

The basic_funtionalities branch contains the core functions and features that are necessary for a robot to perform its intended purpose.

For instance:

• Simple publisher and subscriber
• Tf2_broadcaster (Tf2 refers to the transform library which keeps track of coordinate frames)
• Tf2_listener
• Laserscan_listener
• Odometry_listener
• Computer_vision: Processes images using OpenCV library

The master branch will include advanced project tasks using a mixture of the algorithms developed in the basic_functionalities branch.

The main task will be creating a firefighter assistance robot that alerts the rescue team of the exact location of people inside a burning building by marking them on a map and displaying them on the rescue team's tablets.

This consists of:

• Vision-module: Scanning a map, detecting target objects and marking them
• Robot navigation module: Autonomous driving using Path planning algorithms
• SLAM module: Self localization and mapping

All results will be visualized in Rviz graphical interface and Gazebo simulation environment.

Turtlebot3-Vision.mp4