Turtlebot Image Capture and Orientation Adjuster

We can capture images using a Turtlebot in the Gazebo simulation environment while rotating it across a circle. (I will be working on the real robot soon).

Getting Started

Follow the instructions below to run the Turtlebot image capturing and orientation adjusting script.

Prerequisites

1. Ensure you have ROS (Robot Operating System) installed.
2. You should have the Turtlebot3 Gazebo package installed.

Launching the Gazebo Simulation

Start by launching the Turtlebot in the Gazebo environment with the following command:

roslaunch turtlebot3_gazebo turtlebot3_house.launch

Running the Script

Navigate to the directory containing the move_N_capture.py script. Grant the script execute permissions and run it:

chmod +x move_N_capture.py
python3 move_N_capture_images.py

Functionality

• Image Capture Mode: When run, the Turtlebot will capture images while rotating across a circle. It saves these images to the ./captured_images directory and also records the orientation of the robot for each image in a corresponding .txt file.

• Orientation Adjust Mode: The script can adjust the Turtlebot to match a saved orientation. The saved orientations are stored in .txt files within the ./captured_images directory.