BotROS - The Joy of Painting

BotROS - The Joy of Painting is a project completed by Alex Overman ayres036@umn.edu, Sam Williams will6673@umn.edu, and Nadya Postolaki posto018@umn.edu. The purpose of this project was to create a robot that could draw any image that was given to it. BotROS can now 'draw' any black and white .bmp given to it.

Setup

Before anything else, please run the following code from the root folder.

chmod +x runThisFirst.sh ./runThisFirst.sh Due to some weirdness, we could not include turtlebot files in this repo. Before continuing, please make sure you complete the following steps.

Open a terminal and run the following commands:

cd /project_ws/src/

git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git

git clone https://github.com/ROBOTIS-GIT/turtlebot3.git

git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

cd /project_ws && catkin_make

gedit ~/.bashrc

This last command will open a text editor.

Please add this line at the bottom of the file.

export TURTLEBOT3_MODEL=burger

After you are done, make sure to reload the bashrc file.

source ~/.bashrc

Running the code

In order to run BotROS, you'll want to run the following commands.

In one terminal:

roscore

In another:

cd project_ws

catkin_make

source devel/setup.bash

roslaunch turtlebot3_fake turtlebot3_fake.launch

This opens up the RViz simulation environment to see TurtleBot.

In order to use the required visualization setup, go to File-->Open Config and select the botros.rviz file supplied with the project.

In another terminal:

cd project_ws

source devel/setup.bash

rosrun botros botros.py

This runs the actual BotROS script.

How to Use

In order to properly use BotROS, you'll need to add the .bmp image that you'd like to have drawn in the images project_ws/src/botros/images folder.

You may also need to travel to this folder and type

chmod +x FILENAME

in order to allow BotROS to access your file.

Upon running BotROS, you'll be asked for the image name. The following images are included in this build of BotROS:

• box
• cross
• bigcross
• circle
• spiral
• triangle
• smile

Sketchify

In reference to the studies of simplifying images for BotROS to easily replicate, python script written by HarshitRoys was implemented and edited for this project.

To run: python3 sketchify.py

TODO

• Add a prismatic joint that contains a pencil of some sort. Physically this would be easy enough, but digitally it has proven quite difficult.
• Add colors.
• Improve BotROS's path-finding.