🤖 Titan Robot

This repository contains the ROS 2 packages and configurations for the Titan Robot, including robot bringup, SLAM-based mapping, and localization using slam_toolbox and nav2.

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Update system packages

sudo apt update && sudo apt upgrade -y

Install essential tools

sudo apt install -y \
    curl \
    wget \
    htop \
    net-tools \
    openssh-server \
    rsync \
    tmux

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🛠️ Workspace Setup

1. Create the ROS 2 workspace and source folder:

   mkdir -p ~/titan_ws/src
   cd ~/titan_ws/src

2. Clone the Titan Robot repository:

   git clone https://github.com/MRS111-OS/titan_robot.git

3. Build the workspace:

   cd ~/titan_ws
   colcon build

4. Source the workspace:

   source install/setup.bash

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🚀 Robot Bringup

To start the robot with all required nodes:

ros2 launch titan_bringup titan_bringup.launch.py

This will launch:

• Robot URDF
• RViz2
• Joint State Publisher
• LIDAR driver
• ESP32 communication node

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📽️ Mapping Using SLAM

1. Launch the Nav2 bringup:

   ros2 launch nav2_bringup navigation_launch.py

2. In a new terminal, launch SLAM Toolbox in async mapping mode:

   ros2 launch slam_toolbox online_async_launch.py

3. In another terminal, control the robot with teleop:

   ros2 run teleop_twist_keyboard teleop_twist_keyboard

4. Save the map using RViz2:

   • In Rviz2, go to Panels > Add New Panel > Choose SlamToolboxPlugin
   • Enter your map name beside save map and serialize map
   • Click Save Map and Serialize Map

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📍 Localization with Saved Map

1. Stop the SLAM Toolbox launch file.

2. Edit the SLAM config for localization:

   cd ~/titan_ws/src/titan_robot/slam_toolbox/config

3. Modify mapper_params_online_async.yaml:

   • Comment out:

     # mode: mapping

   • Uncomment and set:

     mode: localization
     map_file_name: "/absolute/path/to/your/map.yaml"
     map_start_at_dock: true

4. Launch SLAM Toolbox in localization mode:

   ros2 launch slam_toolbox online_async_launch.py

5. In RViz2:

   • Click the 2D Goal Pose tool
   • Click a point on the map to send the robot to that goal

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🔎 Scan Network Devices

To find the IP addresses of devices (such as your robot) on your local network, use nmap:

1. Install nmap (if needed):

   sudo apt update
   sudo apt install nmap

2. Scan your network (replace subnet if needed):

   sudo nmap -sn 192.168.127.0/25
   # OR
   sudo nmap -sn 192.168.127.0/24

   You should pick the IP address corresponding to
   MAC ADDRESS: D8:3A:DD:46:FC:C3

   This will list all active devices in the range. Look for your robot's IP in the output.

Tip: You may need sudo for full results.