ROS Robot Drawing

This project enables a ROS-powered TurtleBot to perform autonomous drawing of numbers in a 7-segment display manner as well as having some movement basics training. It leverages ROS for communication, path planning, and execution of drawing motions using the lines left after the robot.

Features

• Draws numbers using a 7-segment display pattern
• Uses ROS for robot control
• Supports various drawing surfaces
• Customizable parameters for stroke width and precision

Installation

Prerequisites

• Ubuntu 20.04 (Installation Guide)
• ROS installed (Installation Guide)

Clone Repository

git clone https://github.com/Lnola/ros-robot-drawing.git
cd ros-robot-drawing

Usage

Open new terminals for each of the following commands!

Start ROS Core

roscore

Launch TurtleSim

rosrun turtlesim turtlesim_nodec

Start the node responsible for drawing

rosrun digits drawer.py

Start the node responsible for recieving numbers and delegating the drawing

rosrun digits controller.py

Start the node responsible for generating the numbers

rosrun digits generator.py

Architecture

Below is the representation of the architecture for the Robot Drawing system: