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Brief
Brief
Meet Tilly - our TurtleBot. We created a program that allows Tilly to navigate through a house and identify particular objects
Implementation
Implementation
Tilly’s behaviours were programmed in Python3. We also used ROS, Gazebo and RViz.
This particular task required us to develop an object search behaviour that enables Tilly to locate predefined objects visible to her camera.
Environement
Environement
The environment Tilly will explore, with objects she will recognise and mark
RViz Marker
RViz Marker
RViz visualisation - SLAM map and markers
TurtleBot POV
TurtleBot POV
Visualisation for when Tilly has detected an object and is pathfinding towards it.
Flowchart describing FSM loop
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