UW GIX MSTI TECHIN 516 Winter 2025 Example Final Project

Description

This year, UW GIX MSTI robotics students will designing and developing their own robots!
Together in teams of {team size}, they will modify Turtlebot 3 robots for new applications.
They will add 1 new sensor, and 1 new motor to accomplish a task of their choosing.
This project aims to provide experience developing novel and complete robot systems spanning hardware, software, design, controls, and user interaction.

This example demonstrates a Turtlebot 3 Burger with an added camera and dog treat dispensing motor.
When the camera sees a dog, the added motor dispenses a treat.

Video Demo

Installation

OpenCR

This project requires cutom firmware for the OpenCR board to drive the 3rd motor.
Follow the instructions from this repo to install the new firmware.

Turtlebot 3 Raspberry Pi

Clone this repo into the Pis ros2 workspace's src directory and build:

cd ~/ros2_ws/src
git clone https://github.com/GIXLabs/t516_project_example.git
cd ..
colcon build

After attaching the new motor, flashing the OpenCR, and building the Turtlebot's new workspace, you can test the new motor with the command below:
Note that positions are in radians.
Keep clear of the motor when it moves!

ros2 topic pub --once /gix_controller/joint_trajectory trajectory_msgs/msg/JointTrajectory \
"{joint_names: ['gix'], points: [{positions: [1.0], time_from_start: {sec: 2}}]}"

Laptop

For the above demo, object recognition was performed on my laptop with this yolo ros package.
Follow their installation instructions to replicate this demo.

Usage

Raspberry Pi

ros2 launch yolo2motor yolo2motor.launch.py

Laptop

ros2 launch yolo_bringup yolo.launch.py