CDE2310 is a module under National University of Singapore (NUS) Innovation and Design Program (IDP). Also known as Fundamentals of Systems Design, it is a module focused on implementing the key methodologies of a systems engineering mindset, with an overall project goal of building a robot to complete tasks autonomously. This repository is proof of our team's hard work throughout the semester, and contains everything from our code bases to hardware and electrical schematics.

1. Follow the ROBOTIS Turtlebot3 Quick Start Guide to setup both your [REMOTE PC] and [RPi]

2. Afterwards, git clone the repositories listed below into your ROS2 workspace

The resultant file structure should be as such

[REMOTE PC]
2310_workspace/
├── launch_scripts
├── src/
│   ├── mission_control
│   ├── casualty_location
│   ├── aligner_node
│   ├── nav2_wavefront_frontier_exploration
│   └── custom_msg_srv
├── build/
├── install/
└── log/

[RPi]
2310_workspace/
├── src/
│   ├── turtlebot_launcher
│   ├── casualty_location
│   └── custom_msg_srv
├── build/
├── install/
└── log/

• launch_scripts
• turtlebot_launcher
• mission_control
• casualty_location
• aligner_node
• nav2_wavefront_frontier_exploration
• custom_msg_srv

3. In 2310_workspace run colcon build
4. cd launch_scripts
5. tmuxinator start 2310_mission_start

Those are the basics, please refer to launch_scripts for more launch parameters and visit each repo for more info on their functions.

The following is a simplified rqt_graph of the crucial nodes used in our project. It excludes the typical Nav2 Stack nodes, which are another key part of our robot's function.

• ROS2 Humble
• Nav2
• Gazebo Classic 11.14.0
• Tmux
• Tmuxinator

• Special thanks to our CDE2310 Profs for organising this challenging yet fun module.
  • Mr Chew Wanlong, Nicholas
  • Mr Ee Wei Han, Eugene
  • Mr Royston Shieh Teng Wei
  • Mr Soh Eng Keng
• Teaching Assistants of CDE2310
• SeanReg's Frontier Exploration algorithm
• Josh-Hrisko's amg8833 driver
• Turtlebot3 Documentation
• AniArka's Frontier Exploration algorithm (this should get a prize in code readability)
• Don Pollo

Thanks for reading!