Lab #4: Physical Turtlebot

The objective of this lab is to graduate from simulation to the physical turtlebot. I encourage you to work in teams if you'd like to. You are welcome to copy code from the internet, but make sure to credit where it came from.

Upon successful completion of this lab, you will be able to:

1. Run the physical turtlebot
2. Have a better understand of the complexity of running code on physical robots

1. Your goal is to build upon Lab 3 by executing it (or similar code) on the physical turtlebot. Expect this to be more difficult than it sounds. I encourage you to start early, google tutorials on how to connect to the physical turtlebot / set up your laptop to connect to it, and post questions for us on Piazza. James will be particularly helpful for this lab since he's struggled a lot with turtlebots before.
2. Run your kinematics code on the turtlebot and measure how close it gets to the correct location. Why do you think you got this result (relative to running it in simulation)?
3. Run your closed-loop code on the physical robot by strategically placing three distinct objects in the environment. Measure how close it got to the final position and explain why you received this result

1. A text file with:
   • Your name
   • The answers to the above questions
   • The names of any people you worked with (optional)
   • Any on-line references / websites you found particularly useful
2. A video of your turtlebot tracing the triangle via inverse kinematics and via a reactive vision controler.
3. The code you wrote for the assignment and any instructions needed to execute it.

1. Text file content: 40
2. Code for kinematics-based driver: 20
3. Code for vision-based driver: 20
4. Videos of both triangles:20