About Project

This Capstone Project is about running Autonomous Navigation by Turtlebot3 Burger on Gazebo Simulation and Real world as a part of course AuE 8230 Autonomy Systems and Sciences

Commands to run Gazebo Simulation

1) Autonomous Navigation - Gazebo
	a) Run command to successfully launch world file in gazebo simulation
		roslaunch aue_finals turtlebot3_autonomy_final.launch

	b) Run following command for execution of april tag detection in gazebo simulation
		roslaunch aue_finals continuous_detection_gazebo.launch

Experiment Video - Gazebo https://github.com/mayureshb7/AuE8230_Turtlebot3_Autonomous/blob/master/aue_finals/Autonomous-Turtlebot-Gazebo.mp4

Commands to run Real World Simulation

2) Autonomous Navigation - Real World
	a) Run Roscore on the pc terminal
	b) Bring up turtlebot3 burger by using this command on turtlebot terminal: roslaunch turtlebot3_bringup turtlebot3_robot.launch
	c) Bring up raspi camera by using this command on turtlebot terminal: roslaunch turtlebot3_bringup turtlebot3_rpicamera.launch
	d) Compress the raspi camera image feedback by using this command on the PC:  rosrun image_transport republish compressed in:=camera/image raw out:=camera/image_rae
	e) Run Command rqt_image_view to view camera
	f) Run Command: "roslaunch aue_finals continuous_detection.launch" for execution of april tag detection in real world
	g) Run Command: "roslaunch darknet_ros darknet_ros.launch" for execution of yolo sign detection in real worls (Launches Tiny Yolo)
	h) Run following command on PC terminal to execute the Autonomous Navigation code on actual bot: rosrun aue_finals wall_follower_line_following_Line_real_World.py

Experiment Video - Real World

Wall Following, Obstacle Avoidance and Line Following

Stop Sign Detection

April Tag Following