Enhanced TurtleBot3 with analog sensing and multimedia streaming capabilities

The ez-turtlebot3 project extends the standard TurtleBot3 with advanced capabilities:

• 🔧 Enhanced Navigation: Autonomous navigation and obstacle avoidance optimized for tight spaces

  ⚠️ Note: Navigation is currently under development (WIP)

• 📊 Analog Sensing: Publishes ROS 2 topics with measurements from analog pins A0-A5 on the TurtleBot OpenCR microcontroller
• 📹 Multimedia Streaming: Streams analog data, audio, and video to remote PCs or cloud services (AWS/YouTube)

• For Camera Module v2: Ubuntu 22.04 LTS (recommended for easy ROS 2 installation)
• For AI Camera: Raspberry Pi OS x64

• ROS 2 Humble - Robot Operating System
• Nav2 - Navigation framework

The ez-turtlebot3 project consists of four repositories. Follow them in this order:

Each repository contains detailed setup instructions in its README file.

This example demonstrates broadcasting analog data and object detection video to a remote PC while teleoperating the TurtleBot3.

1. Power on and connect to the TurtleBot3's Raspberry Pi via SSH
2. Launch TurtleBot3 bringup:

   ros2 launch turtlebot3_bringup robot.launch.py

3. Start analog processor (new terminal):

   ros2 launch ez_analog_processor analog_processor.launch.py

4. Configure streaming (new terminal):

   export REMOTE_PC_IP=192.168.1.100
   python3 ~/rpi-av-stream-scripts/streaming_scripts/pi/stream_object_detection_video_to_pc.py

5. Open live data visualization:

   ros2 run plotjuggler plotjuggler

   Tip: Drag desired ROS topics into the chart area

6. Start video feed (new terminal):

   cd ~/rpi-av-stream-scripts/streaming_scripts/pc
   ./open_video_stream.sh

7. Begin teleoperation (new terminal):

   ros2 run turtlebot3_teleop teleop_keyboard

8. Drive and explore! 🎯

9. Cleanup: Use Ctrl+C to stop all processes on both Pi and PC

• OpenCR Setup - Analog firmware installation
• TurtleBot3 Build - Robot platform setup
• Analog Processor - Data processing node
• Streaming Scripts - Multimedia streaming

We welcome contributions! Please see individual repository READMEs for contribution guidelines.

This project is licensed under the MIT License - see the LICENSE file for details.