MazeSimul is an autonomous maze navigation project using TurtleBot3 and the Webots simulator.
The main objective is to enable the robot to follow the left wall in a maze environment and navigate without collisions. Both rule-based and PID controllers were first implemented and tested in the Webots simulator. Based on the collected data, a machine learning model was trained and then deployed to a real TurtleBot3 using ROS2.

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To deploy and run the wall-following controller on the actual TurtleBot3 hardware, follow the steps below :

✅ Step 1: Configure Wi-Fi on Raspberry Pi

1. Connect your laptop to the Raspberry Pi via Ethernet cable.

2. SSH into the Raspberry Pi using :

   ssh simulsimul@192.168.0.49
   

3. Edit the Wi-Fi credentials in the following files :

   • wpa_supplicant.conf
   • 50-cloud-init.yaml

4. After editing, reboot the Pi :

   sudo reboot
   

5. Once restarted, apply the network settings :

   sudo netplan apply
   ip a
   

6. Check that the wlan interface is connected to Wi-Fi and note the assigned IP address. (It may take some time for the connection to be established.)

✅ Step 2: Connect via Wi-Fi

1. Disconnect the Ethernet cable.
2. Ensure both the laptop and TurtleBot3 are connected to the same Wi-Fi network.
3. SSH into the Raspberry Pi again using the new IP :

   ssh simulsimul@<copied IP address>
   

✅ Step 3: Pull the Docker Image

1. Pull the docker image : (In most cases, the system is already configured to automatically pull the latest image on boot.)

   docker pull ybkim4053/simulsimul:latest
   

2. Check if the image is available :

   docker images
   

✅ Step 4: Launch the Docker Container

1. Launch the docker container

   sudo systemctl start turtlebot-auto
   

• Check if the container is running :

   docker ps
  

• If it's not running, restart the service :

   sudo systemctl restart turtlebot-auto
  

✅ Step 5: Monitor Logs and Confirm Execution

1. Display the runtime logs and allow you to verify that TurtleBot3 is operating correctly.

   sudo docker logs turtlebot-auto -f