Planned x Worked Hours:

Project Overview:

                                                                    Figure 1 - Project Overview

Full Integration Presentation

Below is a single, continuous step-by-step flow describing the full integrated operation of our project — from powering on the robot, through mapping and data upload, to a visually impaired user receiving turn-by-turn guidance on the mobile app.

System Power-Up and Preflight (Robot Side)

1. Verify that all USB cables are connected to the Raspberry Pi, and turn the Pi switch ON.

2. Turn the motor batteries ON.

3. Boot sequence:

   1. Wait approximately 5 minutes for the robot to boot.

   2. Connect remotely from a host computer using SSH:

      ssh jp@rasp-inloco.local
      

4. Place the robot at the desired starting location for mapping. You will need to recall this position later, so choose a recognizable spot, preferably near walls or objects that provide good visual features for SLAM to anchor the robot’s position accurately.

5. Start the mapping phase using ROS commands, controlling the robot with keyboard_teleop.

   Terminal 1 - Launch system

   export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
   export FASTRTPS_DEFAULT_PROFILES_FILE=~/Documents/Oficina3/rasp-inloco/ros2_ws/fastdds_no_shm.xml
   cd ~/Documents/Oficina3/rasp-inloco/ros2_ws
   source install/setup.bash
   ros2 launch motor_teleop motor_control.launch.py use_imu:=t
   

   (Wait 10 seconds) Terminal 2 - Activate SLAM

   cd ~/Documents/Oficina3/rasp-inloco/ros2_ws && bash activate_slam.sh
   

   (Wait for SLAM activation to complete) Terminal 3 - Activate Twist Mux

   export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
   export FASTRTPS_DEFAULT_PROFILES_FILE=~/Documents/Oficina3/rasp-inloco/ros2_ws/fastdds_no_shm.xml
   cd ~/Documents/Oficina3/rasp-inloco/ros2_ws
   source install/setup.bash
   ros2 run twist_mux twist_mux --ros-args --params-file ./src/motor_teleop/config/twist_mux.yaml -r cmd_vel_out:=cmd_vel_rpm
   

   Terminal 4 - Keyboard Control

   Use this terminal to control the robot using the host keyboard arrow keys.

   export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
   export FASTRTPS_DEFAULT_PROFILES_FILE=~/Documents/Oficina3/rasp-inloco/ros2_ws/fastdds_no_shm.xml
   cd ~/Documents/Oficina3/rasp-inloco/ros2_ws
   source install/setup.bash
   ros2 run motor_teleop teleop_keyboard.py --ros-args -r cmd_vel:=/cmd_vel_teleop -p max_speed:=80
   

6. Open Chrome and access the Foxglove web application.

7. In Foxglove, connect to the robot’s IP address.

Obstacle Mapping Run

1. Start the exploration:
   • SLAM Toolbox runs on the Pi, generating a 2D occupancy grid in real time.
   • Navigate the robot only on flat, non-slippery surfaces.
   • Observe the map forming in Foxglove and pilot the robot to maximize map quality.
2. When the SLAM process is complete, press M to save the map locally in the Pi’s ~/maps folder.

Outputs: