# Roomba Robot

**Repository Path**: liucl14/roomba-robot

## Basic Information

- **Project Name**: Roomba Robot
- **Description**: 基于ROS2的扫地机器人代码
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 1
- **Created**: 2025-03-22
- **Last Updated**: 2025-03-22

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Roomba Robot Control with ROS2 and AprilTag Detection

This repository contains code for controlling a Roomba robot using ROS2, with AprilTag-based pose detection.

## Prerequisites

- ROS2 installed
- ADB tools installed
- USB cable for initial robot connection
- Python3
- OpenCV

## Initial Setup

### 1. Robot Connection

1. Connect the robot to your computer using a USB cable
2. Set up ADB connection:
```bash
adb devices  # Verify robot is detected
```

### 2. WiFi Configuration

1. Use ADB to configure wireless network:
```bash
adb shell
# Inside robot shell
vim /data/misc/wifi/wpa_supplicant.conf
# Modify ssid and psk
adb reboot
```
Get robot IP:
```bash
adb shell
ifconfig # get robot ip
```
2. After WiFi setup, you can disconnect USB and use wireless connection:

```bash
ssh root@ROBOT_IP
```

## Repository Setup

1. Clone the repository:
```bash
git clone [repository-url]
cd roomba-robot
```

2. Source ROS2 environment:
```bash
source /opt/ros/foxy/setup.bash
```

3. Build the packages:
```bash
colcon build
```

4. Source the built packages:
```bash
source install/setup.bash
```

## Running the System

You'll need to open multiple terminals for different components. Make sure to source the ROS2 environment and built packages in each terminal.

### 1. Camera Node
```bash
ros2 launch rb5_ros2_vision rb_camera_main_ocv_launch.py
```

### 1.1. Camera Calibration (Depending on your robot)
You need a 6*8 chessboard pattern for calibration. Use commands below to take photos from the camera:
```bash
ros2 run image_view image_view --ros-args -r image:=/camera_0
```
Then run the calibration script:
```bash
python3 camera_calibration.py
```


### 2. AprilTag Detection
In a new terminal:
```bash
ros2 run ros2_april_detection april_detection_node
```



### 3. Pose Listener
In a new terminal:
```bash
python3 hw2_apriltag_listener.py
```

### 4. Robot Controller
In a new terminal, run one of the available controllers depending on your task:
```bash
python3 my_controller.py
# OR
python3 hw2_controller.py  
# OR
python3 hw3_controller.py  
# OR
python3 hw4_controller.py  
# OR
python3 hw5_controller.py  
```

## Available Controllers

- `my_controller.py`: Basic control without AprilTag detection
- `hw2_controller.py`: Basic waypoint navigation using AprilTag detection for pose estimation
- `hw3_controller.py`: SLAM (Simultaneous Localization and Mapping) with square and octagon trajectory following
- `hw4_controller.py`: Path planning with obstacle avoidance using A* algorithm
- `hw5_controller.py`: Roomba-style coverage path planning for systematic area coverage

## File Structure

- `rb5_ros2_vision/`: Camera and vision-related ROS2 package
- `ros2_april_detection/`: AprilTag detection implementation
- `key_joy/`: Keyboard control implementation
- Various controller implementations and utility scripts

## Notes

- Ensure all ROS2 dependencies are properly installed
- Check camera calibration if pose detection seems inaccurate
- Make sure the robot has sufficient battery charge before running experiments
- Check reports for more details on each controller's behavior

## Demo Video
- 路点导航：https://www.youtube.com/watch?v=k59tYfPH4DA
- AprilTag视觉定位：https://www.youtube.com/watch?v=D_ynTF-hmls
- SLAM：https://youtu.be/bPvDySvIiso?si=s3HNhfpOFbcvSt01
- A*最短路径规划：https://www.youtube.com/watch?v=WAUbtLeenn4
- Voronoi最安全路径规划：https://www.youtube.com/watch?v=1h9yBezolrM
- 覆盖路径规划：https://www.youtube.com/watch?v=D1YIhZf8ZzU