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Unitree Navigation Package

The unitree_navigation_pkg enables computer vision-based navigation for TurtleBot3 robots using YOLOv8 segmentation models. It supports both simulation in Gazebo and real-world applications with physical cameras or video files.

Table of Contents

  1. System Overview
  2. Installation Prerequisites
  3. Basic Usage
  4. Using a Physical Camera
  5. Using a Video File
  6. Advanced Configuration
  7. Troubleshooting

System Overview

This package offers:

  • Path detection using YOLOv8 segmentation models.
  • Computer vision-based navigation for TurtleBot3 in Gazebo simulation.
  • Support for both physical cameras and pre-recorded videos.
  • Visualization of segmentation and navigation decision-making processes.

Installation Prerequisites

Ensure the following are installed:

  • ROS 2 Humble
  • Gazebo 11
  • TurtleBot3 packages
  • YOLOv8 segmentation models

Basic Usage

  1. Clone the Repository:

    cd ~/ros2_ws/src
git clone https://github.com/mathis-de-brouwer/unitree_navigation_pkg.git

  2. Install Dependencies:

    cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y

  3. Build the Package:

    colcon build

  4. Source the Workspace:

    source install/setup.bash

  5. Launch the Simulation:

    ros2 launch unitree_navigation_pkg simulation_launch.py

Using a Physical Camera

  1. Connect the Camera:

    Ensure your physical camera is connected and recognized by the system.

  2. Launch the Camera Node:

    ros2 launch unitree_navigation_pkg camera_launch.py

  3. Start Navigation:

    ros2 launch unitree_navigation_pkg navigation_launch.py

Using a Video File

  1. Specify the Video Path:

    Edit the video_launch.py file to set the path to your video file.

  2. Launch the Video Node:

    ros2 launch unitree_navigation_pkg video_launch.py

  3. Start Navigation:

    ros2 launch unitree_navigation_pkg navigation_launch.py

Advanced Configuration

  • Model Parameters:

    Adjust the YOLOv8 model parameters in the config directory to fine-tune detection performance.

  • Navigation Settings:

    Modify navigation parameters in the navigation directory to suit different environments or robot configurations.

Troubleshooting

  • Camera Not Detected:

    Ensure the camera is properly connected and recognized by the system. Use ls /dev/video* to check.

  • Simulation Issues:

    Verify that Gazebo is installed correctly and that the TurtleBot3 model is properly configured.

  • Model Loading Errors:

    Confirm that the YOLOv8 models are placed in the correct directory and that the paths in the configuration files are accurate.