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.