GitHub

Turtlebot Challenge - ENPM673

Download and setup the turtlebot3 ROS humble package from turtlebot documnetation
Copy paste the 'perception' package and 'enpm673_final_proj' package in the src folder along with other turtlebot3 packages

Launch the simulation using the command

ros2 launch enpm673_final_proj enpm673_world.launch.py

We did not use chessboard for horizon line detection and it messes up the path planning a little bit (makes it run slow till it passes chessboard), Use teleop and pass over the chessboard and align properly with the 3rd paper to detect the horizon line
Launch the script using the following command
```
ros2 run perception percept
```

To run on hardware change the image topic in '/perception/perception/percept.py' to get feed from camera

Name		Name	Last commit message	Last commit date
Latest commit History 4 Commits
DynamixelSDK		DynamixelSDK
enpm673_final_proj		enpm673_final_proj
perception		perception
planning_661		planning_661
turtlebot3		turtlebot3
turtlebot3_msgs		turtlebot3_msgs
turtlebot3_simulations		turtlebot3_simulations
readme.md		readme.md