Simulation Deliverables

This section lists the simulation deliverables of the Patrolling Trash-Collecting Robot project, organized by functionality. For system overview and environment setup, see the Project Introduction.

Simulated Functionality (sim branch)

Trash Collection in Simulation

  • Description: Patrol, find the trash, and pick it up.

  • Launch Command:

git checkout sim   # for simulation

# in terminal A
ros2 launch turtlebot4_manipulator_ignition t4_manipulator_ignition.launch.py localization:=true nav2:=true slam:=false use_sim_time:=true use_sim:=true

# in another terminal B
ros2 run turtlebot4_trash_actions trash_collection_task.py

Ignition Gazebo Simulation - Localization and Navigation

cd ~/rsp_ws/src/rsp-project-team-emrs
git checkout sim   # for simulation

  • Description: Physics-based simulation in custom apartment and Wyman lab worlds.

  • Launch Command:

ros2 launch turtlebot4_manipulator_ignition t4_manipulator_ignition.launch.py localization:=true nav2:=true slam:=false

  • Key Nodes:

    • ign_gazebo: simulation server and physics engine

    • ros_ign_bridge: bridges ROS2 topics/services to Ignition

    • Nav2 nodes (controller_server, planner_server, lifecycle_manager_navigation)

Autonomous Patrolling In Simulation

  • Description: Waypoint-based patrol using Nav2 behavior tree.

  • Parameters: Defined in config/patrol_waypoints.yaml.

  • Launch Command:

ros2 launch turtlebot4_manipulator_navigation patrol.launch.py

  • Key Nodes:

    • patrol_robot_node: reads waypoints and publishes goals

    • bt_navigator: executes behavior tree for navigation

    • waypoint_follower: follows sequential goals