vithack-sigmatix

open gazebo sim:

• roslaunch turtlebot3_gazebo turtlebot3_house.launch

move the bot

• roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
• roslaunch voice_teleop turtlebot_voice_teleop_stage.launch

create map of the house

• roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping

save map

• rosrun map_server map_saver -f map_file_name

Localization

• roslaunch turtlebot3_gazebo turtlebot3_house.launch

start localization

• roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=map_file_name.yaml

Run bot on Mapped Rviz:

• roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=/home/gunjan/Desktop/VITHack/vithack-sigmatix/Movel-AI/catkin_ws/my_map_full.yaml

Packages to install extra:

• slam-gmapping

• map-server

• amcl

• move-base

• dwa-local-planner

• pocketsphinx

• audio-common

sudo apt install ros-noetic-

Missing files

• turtlebot3_msgs

Change the amcl configuration vithack-sigmatix/Movel-AI/catkin_ws/src/turtlebot3_navigation/launch/amcl.launch initial_pose_x, initial_pose_y and initial_pose_a to match house.lauch

Speech Install:

• sphinxbase
• pocketsphinx
• hlpr_speech
• pyaudio

Speech Launch:

• roslaunch hlpr_speech_recognition speech_rec.launch speech_gui:=false [Didn't work because of not availability of pocketshinx for ROS Noetic/Melody/Kinetic]

Automated destination python

• roslaunch turtlebot3_gazebo turtlebot3_house.launch
• roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=/home/gunjan/Desktop/VITHack/vithack-sigmatix/Movel-AI/catkin_ws/my_map_full.yaml
• rosrun tf tf_echo /map /base_link
• python <goto_dest.py> [To reach the destination points]

updated Sceech Control

• python speech.py [Speakout the name of commands and it will execute the commands and send to the destination]