This is Group 11's repository for EG2310. Here we attempt to modify a TurtleBot3 to navigate through a restaurant to deliver a can it receives from a dispenser to a certain table.

This repository contains all the code used for the mission in EG2310. The directory tree on the ubuntu laptop to control the TurtleBot and the RPi on the TurtleBot is also included below for reference. For this project, the RPi version used was RPi 3B+ and the microcontroller used for the dispenser was DOIT ESP32 Devkit V1 Board. The software, hardware, and steps required to replicate the working TurtleBot is explained in detail in the report.

Follow Section 8 - Assembly of the final report before proceeding with starting the mission.

View section 8.4 - Algorithm Overview of the final report for a detailed breakdown for the program.

• r2table_nav.py is the master program that controls the TurtleBot during the delivery mission, completing the 4 Phases of Dispense, Delivery, Collection and Return.
• r2waypoints.py is the program that allows the users to set waypoints in case of an altered layout.
• waypoints.json is the json file that stores the waypoints for each table.
• map2base.py is a publisher program that publishes a Pose message to locate the TurtleBot relative to the starting position.
• switchpub.py is a publisher program running on the RPi that publishes the state of the microswitch.
• ESP32/ESP32.ino is a ESP32 program that controls the Dispenser with functions that Display Input, Send input through MQTT, Rotate Servo Motor.

• Adafruit GFX by Adafruit
• Adafruit SSD1306 by Adafruit
• ESP32Servo by Kevin Harrington, John K. Bennett
• Keypad by Mark Stanley, Alexander Brevig
• PubSubClient by Nick O’Leary

• ROS 2 Foxy by ROS2 Team
• Paho MQTT Client by Eclipse Foundation

• ROS 2 Foxy by ROS2 Team
• RPi.GPIO by Ben Croston
• MQTT 2.0 by Eclipse Foundation

colcon_ws
├── build
├── install
├── log
└── src
     └── auto_nav
        ├── package.xml
        ├── setup.cfg
        ├── setup.py
        └── auto_nav
            ├── __init__.py
            ├── map2base.py
            ├── waypoints.json
            ├── r2waypoints.py
            └── r2table_nav.py

turtlebot_ws
├── build
├── install
├── log
└── src
    └── hardware-bringup
        ├── package.xml
        ├── setup.cfg
        ├── setup.py
        └── sensors
            ├── __init__.py
            └── swtichpub.py

ENSURE that the ip address in the ESP32 and TableNumber.py is what is displayed by the broker in terminal after running.

hostname -I.

Run the following commands in different terminals

  ssh ubuntu@(ip-address-of-pi)
  rosbu

  ssh ubuntu@(ip-address-of-pi)
  switchpub

  rslam

  map2base

  tablenav

  r2waypoints

View Section 10.2 - Troubleshooting - Software of the final report to troubleshoot common problems faced when operating the system.