Setup

Follow the instructions to set up the Limo robot here Limo-Robot-Introduction.

Leave the wheels in differential drive mode (where the front wheels are locked and can't move).

Part 1

As we did in the last class use the same scripts in the ROB1001 repository on the real robot to publish and subscribe to different topics on the robot and see how they work on the real robot.

Instructions on how to run the Python scripts are here Run-the-ROB1001-ROS-scripts

Part 2

Driving the robot with the keyboard run ros2 run teleop_twist_keyboard teleop_twist_keyboard in a new terminal.

Part 3

Use the scripts you created in the last class on the real robot.

1. The script to move the robot in a predefined shape (e.g a square 2x2m or circle 2m radius).

2. The script that subscribes to either (or both) the lidar scan or depth camera to move the robot forward in a straight line but avoids obstacles (e.g. by stopping, or waiting until the obstacle has moved, or moving around the obstacle).

Part 4 (optional)

Create a Python script that uses the RGB camera and publishes a cmd_vel topic to moves the robot according to detected colours. As you did with the Trilobots last semester (you can reuse some of you code if you want or make new code).

Look at the example script colour_detect, this subscribes to the colour camera topic, converts to OpenCV images, processes the images and prints the colour name.