SYSTEMS INTEGRATION

AND DESIGN
PBL REPORT

Submitted by
Maazin M I
Sai Sanjay
Gokul T
Oliver Joel
Bharath Desikan
 ABSTRACT
In this report we will briefly discuss the efforts that we have
taken to fabricate the turtlebot3 using ROS. We will go through
the errors and the path planning algorithm we tried to
implement
SYSTEMS INTEGRATION AND DESIGN

1 INTRODUCTION
We will divide this report into three phases. Phase

one will talk about the simulation part, Phase two the

SLAM implementation and the third phase will talk

about the errors that we encountered while

implementing a navigation algorithm, our

troubleshooting methods and the possible solutions.

2 PHASE ONE
This was the easy part where we got the simulation

of the turtlebot3 done in ROS Gazebo. SLAM was done

for a digital maze and the navigation stack was

implemented. Other path planning algorithms were

written later and was also implemented, here are some

of the pictures of the simulation.

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SYSTEMS INTEGRATION AND DESIGN

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SYSTEMS INTEGRATION AND DESIGN

The pose estimate works perfectly to know the

starting position of the bot and the navigation also

works perfectly. The videos in the zip file of this report

will provide a clearer picture to the working

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SYSTEMS INTEGRATION AND DESIGN

3 PHASE TWO
This phase involved implementation of SLAM

algorithm in the real turtlebot3.

One of the very first errors we encountered while

setting up the turtlebot3 was the ras pi wouldn’t power

up. This was solved by integrating a wired power supply

but we couldn’t map a larger area with it

This led us to take off the power supply from

another tb3 and attach it with ours.

This worked and we ssh-ed into the pi wifi and

installed all the packages necessary and ran it.

The SLAM seemed to work beautifully and we got

the map and the yaml file

Here are some of the pictures from the SLAM

implementation and the videos are attached in the zip

file

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SYSTEMS INTEGRATION AND DESIGN

4 PHASE THREE
When we tried implementing a navigation

algorithm, we encountered a man in the middle attack.

This was just a normal IP mistake that happened as the

tb3 was sitting idle and my hotspot config changed.

After solving this, we opened our map, both Rviz

and Gazebo opened but we couldn’t click on the 2D

pose estimate and it did not work.

After giving the navigation goal in the map, the tb3

assumed initial positions in the map and started

spinning in the same place as many paths were created

from each of the assumed initial positions that the

software assumed.

We tried RRT*, A* and the inbuilt navigation stack,

nothing seemed to work

Then an idea to use MATLAB with RRT* with the

help of a ROS toolbox and even that did not bear fruitful

results.

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SYSTEMS INTEGRATION AND DESIGN

As you can see the simulation worked perfectly, but

the toolbox wouldn’t connect with the ras pi.

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SYSTEMS INTEGRATION AND DESIGN

5 POSSIBLE SOLUTIONS
One of the many problems was the inadequacy of

the lidar

The tb3 could use a software upgrade and the

OpenCR module needs to be programmed with our

launch files from scratch so that we don’t need to alter

the existing files to facilitate our code which can lead to

a lot of mistakes.

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