Zusammenfassung Praxissemester Kamal
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Summary
Conclusion
In conclusion, a 3D model of a 4-Wheeled-Robot was made in Webots as the base model of the project. The model was created following the tutorials in Cyberbotics website. That model was simulated inside Webots using simple C code, which was already given along with the tutorial. That model was exported in Ubuntu to simulate with ROS2. It was modified twice, once for avoiding obstacles with IR and once for avoiding obstacles with Sonar. To program the robots with ROS2, packages were made inside the main package 'webots_ros2_alphabot'. For programming the robot, Python was used as the programming language. Because ROS2 supports Python and C++, and I personally preferred Python because of its simplicity.
Outlook
For the next step, Lidar sensor can be added to the 3D model for scanning the surrounding. So it can be used for Localization and Mapping. SLAM can be used for these purposes. SLAM is a ROS tool for these purposes and it is the short form of 'Simultaneous Localization and Mapping'. The 3D model can also be integrated with rviz, which is a powerful visualization tool for robotics.
Selfreflexion
→ zurück zum Hauptartikel: Modellsimulation in Webots und Simulationen mit ROS2
As I am a student of Electronic Engineering, I had a basic knowledge about programming. I was familiar with C and C++. In my opinion, that was the only thing that helped me for this project. The rest I had to learn from scratch. For example, I learnt ROS2 by doing the basic and intermediate tutorials in Ros Website. Then I learnt how to make 3D models in Webots and also how to simulate them using ROS. I also did an online course on Python in Linkedin Learning, as I had to use Python for our project and got a certificate as well. I believe I learnt a lot through out the internship.
Robotics is an interesting topic. I always found it interesting and now I got some solid experience in this field, mostly in terms of simulation. Nevertheless, it made robotics even more interesting to me. I have learnt how important simulation is for such projects and how it makes it so much easier to implement on real life after the simulation is successful.
I have also realized that, while tying to solve a problem, 'step by step' approach is a key. Because solving a completely new or a big problem can seem very difficult and almost impossible sometimes. It can only be dealt with by breaking it into different or small steps and trying to solve them one at a time or step by step.
Another important thing that I learnt is 'perseverance', in other words, not giving up and keep trying to solve the problem. While tying to program the robot for sonar obstacle avoidance, I was stuck at the same problem for about a month. Then what I realized is that, I could solve 95% of the project with 30% of knowledge. But for solving the remaining 5%, I had to learn so much more. And that happened after I got stuck but kept trying in so many different approaches for a very long time. It was frustrating but in the end, I learnt a lot. It also enriched my understanding how codes really run in a system.