INF0429

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# INF0429 - Robotics

## Seminário
[GITHUB - Conformação de equipes (DEADLINE 13/06/2024)](https://classroom.github.com/a/cQThrnt4)

## Citações

### ABNT
``Segundo (RUFFSL, 2024), blah blah blah -> INDIRETA``

``Ruffsl, 2024, comenta que ... blah blah blah -> DIRETA``

``1. RUFFSL. Repeatable Reproducible and Accessible ROS Development via Dev Containers and PWAs. Dísponivel: https://www.youtube.com/watch?v=aEowtvmoqUM. Acesso em: 13 junho 2024.``

### IEEE
``Segundo [1], blah blah blah -> INDIRETA``

``[1] comenta que ... blah blah blah -> DIRETA``

``[1] RUFFSL. Repeatable Reproducible and Accessible ROS Development via Dev Containers and PWAs. Dísponivel: https://www.youtube.com/watch?v=aEowtvmoqUM. Acesso em: 13 junho 2024.``

## Instalação

[Instalacao de Docker + VSCode](https://docs.ros.org/en/humble/How-To-Guides/Setup-ROS-2-with-VSCode-and-Docker-Container.html)

[Tutorial Basico de ROS](http://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools.html)

## Tools
[tmux - Handling multiple terminals](https://docs.google.com/presentation/d/1ZMH70_KPD-uV5qBnFV8VC6YsYMKM1wspKqPhwly7R0o/edit?usp=sharing)

## Slides

[Brainstorming Robótica + IA](https://docs.google.com/presentation/d/1tDKQ-N5le3v2vWzQQLP-NQomoXSfNvdtd3NOyMaxg6Y/edit?usp=sharing)

[* Iago Alves - LLMs](https://www.canva.com/design/DAGD8im6Aw4/bzwlV957dqeHEBbeL1NiQA/view)

[* Pedro Martins - Carro Autônomo](https://www.canva.com/design/DAGDQ9tX6jY/JTq9ZrjNg-8ODbWzGzWYvA/view)

[* Heinz Felipe - Robótica na lavoura](https://www.canva.com/design/DAGCwHQ5sYA/4tjv1Iv3B3pE_ijSyXZNbQ/edit?utm_content=DAGCwHQ5sYA&utm_campaign=designshare&utm_medium=link2&utm_source=sharebutton)

[* Alexandre Costa - ROS2](https://www.canva.com/design/DAFfHPSs7YI/qG0yB1t3E5dre9TYwx8yTQ/edit?utm_content=DAFfHPSs7YI&utm_campaign=designshare&utm_medium=link2&utm_source=sharebutton)

[* Rafael Rebelo - Docker](https://www.canva.com/design/DAFfHsBcCnw/pL_JzSZSuxeLOrJxLb3kNQ/view)

[Prática04 - Build your ROS package](https://docs.google.com/presentation/d/1bqmwq2UUKUxL_hhzim8HDZslaxihENNtfmV476KMlJ0/edit?usp=sharing)

[Prática03 - ROS2 Graph](https://docs.google.com/presentation/d/1IktfJ4hckV0X0KWrKsvhCwkpulzlN_LZWKLgwvX_hOE/)

[Prática02 - Introduction](https://docs.google.com/presentation/d/1SQlcrmDEe3lUtHsS-UlA3CTYlnCL9IrbYHDfD-pv-vc/edit?usp=sharing)

## Labs

[Kalman Filter](https://nu-msr.github.io/navigation_site/lectures/kalman_filter.html)

[Lab02 - lidar odometry](https://docs.google.com/presentation/d/1kXXJDKylKiX0bUfM0CpC-zhBuqCrolqz9D7-QPSm9zs/edit?usp=sharing)

[Lab01 - teleop (Nota 1)](https://classroom.github.com/a/3DbBYhyZ)

[Lab01 - teleop](https://classroom.github.com/a/Xhg7DUof)

## Software

[NEW! - SpectacularAI VIO](https://spectacularai.github.io/docs/sdk/wrappers/ros.html)

[LoCoBot](http://www.locobot.org/)

[TurtleBot4 + Braço manipulador](https://www.youtube.com/watch?v=ExbeyVWhtqw)

[TIAGo robot in ROS2](https://github.com/pal-robotics/tiago_simulation)

## News
[Suspected Russia-trained spy whale reappears off Sweden’s coast](https://www.theguardian.com/world/2023/may/29/suspected-russia-trained-spy-whale-reappears-off-swedens-coast)

## Canais
[Articulated Robotics](https://www.youtube.com/@ArticulatedRobotics/videos)

# Mapeamento e Navegação no Turtlebot físico

## Acessar o robo via ssh (configurado para o miss 5G)
```
ssh -X ubuntu@192.168.1.106
```
senha: turtlebot4

## Gerando o mapa

Rodar esses pacotes na máquina Local. O robô possui uma raspberry, portanto, rodar esses pacotes nela pode acabar sobrecarregando.

### Pacote de SLAM para fazer o mapeamento
```
ros2 launch turtlebot4_navigation slam.launch.py
```

### Pacote para abrir as configurações do RVIZ

```
ros2 launch turtlebot4_viz view_robot.launch.py
```

### Pacote para fazer a teleoperação
```
ros2 run teleop_twist_keyboard teleop_twist_keyboard
```

### Pacote para salvar o mapa
```
ros2 service call /slam_toolbox/save_map slam_toolbox/srv/SaveMap "name:
data: 'map_name'"
```

## Rodando navegação

Rodar esses pacotes na máquina Local. O robô possui uma raspberry, portanto, rodar esses pacotes nela pode acabar sobrecarregando.

### Pacote para lançar configurações de localização 
```
ros2 launch turtlebot4_navigation localization.launch.py map:=map_name.yaml
```

### Inicia a stack de navegação
```
ros2 launch turtlebot4_navigation nav2.launch.py
```

### Pacote para abrir as configurações do RVIZ
```
ros2 launch turtlebot4_viz view_robot.launch.py
```

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