Void.Robotics.Task.Working.Video.mp4

Task:

• The task was to create a C++ ROS2 node that when run will stop the robot.

To accomplish this Task:

• The robot used in this taks is "turtlebot3 burger model". The necessary gazebo simulation and navigation files are cloned from the open-source turtlebot3 github repository.

• Turtlbot3 Packages Used:

  a) turtlebot3_simulation: It is used for gazebo simulation.

  b) turtlebot3: It is used for navigation.

• Custom package named "my_robot_control" is created.

• Within the package, src folder, two c++ scripts are created:

  a) send_goal.cpp: Action client is created to send goal.

  b) goal_cancel.cpp: Action client is create to cancel the active goal. Thus, on running this node, the robot stops as the goal gets cancelled.

Run the following commands in the terminal to test:

Note:

• Change to the workspace location in which this project files are present

A) Terminal 1

• ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

B) Terminal 2

• ros2 launch turtlebot3_navigation2 navigation2.launch.py

C) Terminal 3

• ros2 run my_robot_control send_goal.cpp

D) Terminal 4

• ros2 run my_robot_control goal_cancel.cpp

List of resources in use to complete this task:

A) To setup Turtlebot3 simulation

• https://emanual.robotis.com/docs/en/platform/turtlebot3/simulation/

B) ROS2 Humble Documentation (To undersand Action Client, Action Server and other important topics)

• https://docs.ros.org/en/humble/Tutorials/Intermediate/Writing-an-Action-Server-Client/Cpp.html

C) For sending goal, I used the following code as reference

• https://qiita-com.translate.goog/porizou1/items/cb9382bb2955c144d168?_x_tr_sl=ja&_x_tr_tl=en&_x_tr_hl=en&_x_tr_pto=sc

D) To find active goal feedback topic and determine the logic to cancel the active goal

• https://get-help.theconstruct.ai/t/check-if-a-computepaththroughposes-action-goal-has-been-achieved-from-another-node/22639/2

E) To understand how to push code to Github repository

• https://automaticaddison.com/how-to-upload-a-ros-2-project-to-github/