TurtleBot Arm Control with Object Detection

This project uses the robot's lidar combined with object detection to locate and grip small cylinders.

It uses ROS 2 and behaviour trees for robot control and YOLOv11 for object detection.

The object detection is now in a seperate repository found here: https://github.tik.uni-stuttgart.de/IAS-MiniFactory/WorkpieceDetector For the setup of the turtlebot see this repository: https://github.tik.uni-stuttgart.de/IAS-MiniFactory/turtlebot3_manipulation There the maps and config for navigation and manipultation are also availabe.

See wiki.md for more details on how to use it.

Install instructions

1. Install docker
   1. curl -sSL https://get.docker.com | sh
   2. sudo usermod -aG docker $USER
   3. sudo systemctl enable docker
   4. sudo reboot now
2. Build Container
   1. Clone this repository
   2. Go to root of TurtleBot repository
   3. Build image docker build -t turtlebot -f .devcontainer/main/Dockerfile .
3. Run docker container docker run -d --restart unless-stopped --net=host --name turtlebot_main <image>

docker commands

Most of those commands need the container name. This should be turtlebot_main by default (set by the --name option). If not replace that with your container name discoverd with the docker ps command.

• Get Log from running container docker logs -f turtlebot_main
• Stop container docker stop turtlebot_main
  • This will also prevent the container from restarting on boot (because of --restart unless-stopped). Container has to be restarted by hand.
• Restart container docker restart turtlebot_main
• Attach separate terminal to running process docker exec -it turtlebot_main /bin/bash

Build command

To rebuild the packages inside the container. (Has to be run inside the container).

cd ~/TurtleBot/ros2_ws && colcon build --build-base /home/mf/ros2_ws/build --install-base /home/mf/ros2_ws/install --executor sequential

Development

To develop this use vscode with the “Remote Development” Extension.

Running Groot2

Groot2 is installed into the development container. Start it with

~/Groot2-v1.6.1-x86_64.AppImage