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diff --git a/Bilder/turtlebot-setup.png b/Bilder/turtlebot-setup.png
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diff --git a/Bilder/wifi-setup.png b/Bilder/wifi-setup.png
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diff --git a/Code/Pico(Micropython)/TCRT5000.py b/Code/Pico(Micropython)/TCRT5000.py
new file mode 100644
index 0000000000000000000000000000000000000000..eafd7104f4e9e3a03798f9b96ff87f7879180199
--- /dev/null
+++ b/Code/Pico(Micropython)/TCRT5000.py
@@ -0,0 +1,35 @@
+# Auslesen zweier TCRT5000 Liniensensoren mit eimem Raspberry Pi Pico und Micropython
+
+
+from machine import Pin
+from time import sleep
+
+# Pin-Nummern für die Sensoren
+LEFT_PIN = 16 # OUT-Pin des linken Sensors, GPIO16
+RIGHT_PIN = 17 # OUT-Pin des rechten Sensors, GPIO17
+
+# Sensoren initialisieren
+left_sensor = Pin(LEFT_PIN, Pin.IN)
+right_sensor = Pin(RIGHT_PIN, Pin.IN)
+
+try:
+ while True:
+ # Sensor-Ausgang lesen
+ left_value = left_sensor.value()
+ right_value = right_sensor.value()
+
+ if left_value == 1:
+ print("LINKS: 1 -> schwarz")
+ else:
+ print("LINKS: 0 -> hell")
+
+ if right_value == 1:
+ print("RECHTS: 1 -> schwarz")
+ else:
+ print("RECHTS: 0 -> hell")
+
+ # Verzögerung für bessere Lesbarkeit
+ sleep(0.3)
+
+except KeyboardInterrupt:
+ print("Programm beendet")
diff --git a/Code/Pico(Micropython)/externe_led.py b/Code/Pico(Micropython)/externe_led.py
new file mode 100644
index 0000000000000000000000000000000000000000..701eba991ae9febe5b14400e248b8d7922dfd52d
--- /dev/null
+++ b/Code/Pico(Micropython)/externe_led.py
@@ -0,0 +1,14 @@
+# Code in Micropython für den Raspberry Pi Pico
+# Importieren der notwendigen Module
+from machine import Pin
+from time import sleep
+
+# Initialisierung der LED (Pin-Nummer anpassen, falls notwendig)
+led = Pin(1, Pin.OUT) # Pin 1 steuert die eingebaute LED des Raspberry Pi Pico
+
+# Endlosschleife zum Blinken der LED
+while True:
+ led.value(1) # LED einschalten
+ sleep(0.5) # 0,5 Sekunden warten
+ led.value(0) # LED ausschalten
+ sleep(0.5) # 0,5 Sekunden warten
diff --git a/Code/Pico(Micropython)/hc_sr04.py b/Code/Pico(Micropython)/hc_sr04.py
new file mode 100644
index 0000000000000000000000000000000000000000..478e565f0f30716dc84b6905fb3d98803ea247ec
--- /dev/null
+++ b/Code/Pico(Micropython)/hc_sr04.py
@@ -0,0 +1,39 @@
+# Code in Micropython für den Raspberry Pi Pico
+
+from machine import Pin, time_pulse_us
+import time
+
+# Pin-Definitionen
+TRIG_PIN = 27 # GPIO-Pin für Trig
+ECHO_PIN = 26 # GPIO-Pin für Echo
+
+# Initialisierung der Pins
+trig = Pin(TRIG_PIN, Pin.OUT)
+echo = Pin(ECHO_PIN, Pin.IN)
+
+def measure_distance():
+ # Trigger-Puls erzeugen
+ trig.low()
+ time.sleep_us(2)
+ trig.high()
+ time.sleep_us(10)
+ trig.low()
+
+ # Zeit messen, wie lange das Echo ankommt
+ try:
+ duration = time_pulse_us(echo, 1, 30000) # Timeout nach 30ms
+ except OSError: # Wenn kein Signal zurückkommt
+ return -1
+
+ # Entfernung berechnen (Schallgeschwindigkeit = 343 m/s)
+ distance = (duration * 0.0343) / 2 # Zeit in cm umrechnen
+ return distance
+
+# Hauptprogramm
+while True:
+ distance = measure_distance()
+ if distance == -1:
+ print("Kein Signal")
+ else:
+ print("Entfernung: {:.2f} cm".format(distance))
+ time.sleep(1)
diff --git a/Code/Pico(Micropython)/interne_led.py b/Code/Pico(Micropython)/interne_led.py
new file mode 100644
index 0000000000000000000000000000000000000000..a923c8d6decef1adabd757d17abcebec62530819
--- /dev/null
+++ b/Code/Pico(Micropython)/interne_led.py
@@ -0,0 +1,14 @@
+# Dieser Code in Micropyhton ist für den Raspberry Pi Pico gedacht
+# und lässt die interne LED des Picos (auf GPIO 25) blinken.
+
+import machine
+import time
+
+# Initialisiere den GPIO-Pin 25 (eingebaute LED)
+led = machine.Pin(25, machine.Pin.OUT)
+
+while True:
+ led.value(1) # LED einschalten
+ time.sleep(0.5) # 500 ms warten
+ led.value(0) # LED ausschalten
+ time.sleep(0.5) # 500 ms warten
diff --git a/Code/Pico(Micropython)/sensor_bridge_1.py b/Code/Pico(Micropython)/sensor_bridge_1.py
new file mode 100644
index 0000000000000000000000000000000000000000..fde81a221d1e9dd22ef983e91a28e60bd05609f1
--- /dev/null
+++ b/Code/Pico(Micropython)/sensor_bridge_1.py
@@ -0,0 +1,31 @@
+# Skript in Micropython für den Raspberry Pi Pico
+# Liest die Sensorwerte zweier Liniensensoren aus und
+# gibt die Ergebnisse über USB (seriellen Ausgang) aus
+
+
+from machine import Pin
+from time import sleep
+import sys
+
+# Pin-Nummern für die Sensoren
+LEFT_PIN = 7 # GPIO7 für linken Sensor
+RIGHT_PIN = 8 # GPIO8 für rechten Sensor
+
+# Initialisiere die Pins für die Sensoren
+left_sensor = Pin(LEFT_PIN, Pin.IN)
+right_sensor = Pin(RIGHT_PIN, Pin.IN)
+
+try:
+ while True:
+ # Sensor-Werte auslesen
+ left_value = left_sensor.value()
+ right_value = right_sensor.value()
+
+ # Daten als JSON-ähnliches Format senden
+ sys.stdout.write(f"{left_value},{right_value}\n")
+
+ # Verzögerung, um Daten lesbar zu machen
+ sleep(0.1)
+
+except KeyboardInterrupt:
+ print("Programm beendet")
\ No newline at end of file
diff --git a/Code/Pico(Micropython)/sensor_bridge_2.py b/Code/Pico(Micropython)/sensor_bridge_2.py
new file mode 100644
index 0000000000000000000000000000000000000000..99ad27a775bda84ce682ffa29878c5a1f7ac973f
--- /dev/null
+++ b/Code/Pico(Micropython)/sensor_bridge_2.py
@@ -0,0 +1,61 @@
+# Skript in Micropython für den Raspberry Pi Pico
+# Liest die Sensorwerte von fünf Liniensensoren und dem HC-SR 04 aus und
+# gibt die Ergebnisse über USB (seriellem Ausgang) aus
+
+from machine import Pin, time_pulse_us
+from time import sleep
+import sys
+
+# Pin-Nummern für die Sensoren
+SENSOR_PINS = [13,8,11,7,4] # OUT-Pins der fünf Liniensensoren in der Reihenfolge von rechts nach links
+TRIG_PIN = 26
+ECHO_PIN = 19
+
+
+# Sensoren initialisieren
+sensors = [Pin(pin, Pin.IN) for pin in SENSOR_PINS]
+
+trig = Pin(TRIG_PIN, Pin.OUT)
+echo = Pin(ECHO_PIN, Pin.IN)
+
+
+def measure_distance():
+ # Sende ein 10 µs langes HIGH-Signal über den Trigger
+ trig.low()
+ sleep(0.02) # Sicherstellen, dass Trigger vorher LOW war
+ trig.high()
+ sleep(0.00001) # 10 µs
+ trig.low()
+
+ # Warte auf das HIGH-Signal vom Echo und messe die Dauer
+ pulse_duration = time_pulse_us(echo, 1, 30000) # Timeout nach 30 ms (30000 µs)
+
+ # Berechne die Distanz (Schallgeschwindigkeit: 34300 cm/s)
+ distance = (pulse_duration / 2) * 0.0343 # Hin- und Rückweg berücksichtigen
+
+ return distance
+
+try:
+ while True:
+ messung = ""
+
+ distance = measure_distance()
+
+ for i, sensor in enumerate(sensors):
+ value = sensor.value()
+ messung += str(value)
+ messung += ","
+
+ messung += str(distance)
+ messung += "\n"
+
+ # print(messung)
+
+ sys.stdout.write(messung)
+
+ # Verzögerung für bessere Lesbarkeit
+ sleep(0.05)
+
+except KeyboardInterrupt:
+ print("Programm beendet")
+
diff --git a/Code/ROS_Nodes_fuer_2_Sensoren/line_follower_pkg/line_follower_pkg/__init__.py b/Code/ROS_Nodes_fuer_2_Sensoren/line_follower_pkg/line_follower_pkg/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/Code/ROS_Nodes_fuer_2_Sensoren/line_follower_pkg/line_follower_pkg/line_follower_node.py b/Code/ROS_Nodes_fuer_2_Sensoren/line_follower_pkg/line_follower_pkg/line_follower_node.py
new file mode 100644
index 0000000000000000000000000000000000000000..fc79e24a292378d3735b44a0aaa7d0645d216b3f
--- /dev/null
+++ b/Code/ROS_Nodes_fuer_2_Sensoren/line_follower_pkg/line_follower_pkg/line_follower_node.py
@@ -0,0 +1,71 @@
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+from std_msgs.msg import String
+
+class LineFollowerNode(Node):
+ def __init__(self):
+ super().__init__('line_follower')
+
+ # Abonnieren der Pico-Daten
+ self.sensor_subscription = self.create_subscription(
+ String,
+ 'pico_data', # Topic für die Pico-Daten
+ self.sensor_callback,
+ 10)
+
+ # Publisher für Bewegungsbefehle
+ self.cmd_publisher = self.create_publisher(Twist, '/cmd_vel', 10)
+
+ # Initialisierung der Steuerungsvariablen
+ self.left_sensor = 0.0
+ self.right_sensor = 0.0
+
+ def sensor_callback(self, msg):
+ try:
+ # Verarbeiten der Sensordaten aus der Nachricht
+ data = msg.data.split(',') # Annahme: Daten sind als "Wert1,Wert2" formatiert
+ self.left_sensor = float(data[0]) # Linker Sensorwert
+ self.right_sensor = float(data[1]) # Rechter Sensorwert
+ self.get_logger().info(f"Left: {self.left_sensor}, Right: {self.right_sensor}")
+
+ # Linie folgen
+ self.follow_line()
+ except (ValueError, IndexError) as e:
+ self.get_logger().error(f"Fehler beim Verarbeiten der Sensordaten: {e}")
+
+ def follow_line(self):
+ twist_msg = Twist()
+
+ if self.left_sensor > self.right_sensor:
+ # Drehe nach links
+ twist_msg.linear.x = 0.02
+ twist_msg.angular.z = 0.5
+ self.get_logger().info(f"Links: {self.left_sensor}, Rechts: {self.right_sensor} - L > R - Drehe nach links")
+ elif self.right_sensor > self.left_sensor:
+ # Drehe nach rechts
+ twist_msg.linear.x = 0.02
+ twist_msg.angular.z = -0.5
+ self.get_logger().info(f"Links: {self.left_sensor}, Rechts: {self.right_sensor} - L < R - Drehe nach rechts")
+ else:
+ # Geradeaus fahren
+ twist_msg.linear.x = 0.05
+ twist_msg.angular.z = 0.0
+ self.get_logger().info(f"Links: {self.left_sensor}, Rechts: {self.right_sensor} - L = R - Fahre geradeaus")
+
+ # Bewegungsbefehle senden
+ self.cmd_publisher.publish(twist_msg)
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = LineFollowerNode()
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
diff --git a/Code/ROS_Nodes_fuer_2_Sensoren/line_follower_pkg/package.xml b/Code/ROS_Nodes_fuer_2_Sensoren/line_follower_pkg/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..80bce246184f93e3a77a395e4f0c5fedae37af48
--- /dev/null
+++ b/Code/ROS_Nodes_fuer_2_Sensoren/line_follower_pkg/package.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+ <name>line_follower_pkg</name>
+ <version>0.0.0</version>
+ <description>TODO: Package description</description>
+ <maintainer email="turtlebot@todo.todo">turtlebot</maintainer>
+ <license>TODO: License declaration</license>
+
+ <depend>rclpy</depend>
+ <depend>std_msgs</depend>
+
+ <test_depend>ament_copyright</test_depend>
+ <test_depend>ament_flake8</test_depend>
+ <test_depend>ament_pep257</test_depend>
+ <test_depend>python3-pytest</test_depend>
+
+ <export>
+ <build_type>ament_python</build_type>
+ </export>
+</package>
diff --git a/Code/ROS_Nodes_fuer_2_Sensoren/line_follower_pkg/resource/line_follower_pkg b/Code/ROS_Nodes_fuer_2_Sensoren/line_follower_pkg/resource/line_follower_pkg
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/Code/ROS_Nodes_fuer_2_Sensoren/line_follower_pkg/setup.cfg b/Code/ROS_Nodes_fuer_2_Sensoren/line_follower_pkg/setup.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..2d13ad284e4de749091d311ddbcaea95d8091d40
--- /dev/null
+++ b/Code/ROS_Nodes_fuer_2_Sensoren/line_follower_pkg/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/line_follower_pkg
+[install]
+install_scripts=$base/lib/line_follower_pkg
diff --git a/Code/ROS_Nodes_fuer_2_Sensoren/line_follower_pkg/setup.py b/Code/ROS_Nodes_fuer_2_Sensoren/line_follower_pkg/setup.py
new file mode 100644
index 0000000000000000000000000000000000000000..26d6a4fda441ceb52684a010d8a7fd309424231b
--- /dev/null
+++ b/Code/ROS_Nodes_fuer_2_Sensoren/line_follower_pkg/setup.py
@@ -0,0 +1,26 @@
+from setuptools import find_packages, setup
+
+package_name = 'line_follower_pkg'
+
+setup(
+ name=package_name,
+ version='0.0.0',
+ packages=find_packages(exclude=['test']),
+ data_files=[
+ ('share/ament_index/resource_index/packages',
+ ['resource/' + package_name]),
+ ('share/' + package_name, ['package.xml']),
+ ],
+ install_requires=['setuptools'],
+ zip_safe=True,
+ maintainer='turtlebot',
+ maintainer_email='turtlebot@todo.todo',
+ description='TODO: Package description',
+ license='TODO: License declaration',
+ tests_require=['pytest'],
+ entry_points={
+ 'console_scripts': [
+ 'line_follower_node = line_follower_pkg.line_follower_node:main',
+ ],
+ },
+)
diff --git a/Code/ROS_Nodes_fuer_2_Sensoren/line_follower_pkg/test/test_copyright.py b/Code/ROS_Nodes_fuer_2_Sensoren/line_follower_pkg/test/test_copyright.py
new file mode 100644
index 0000000000000000000000000000000000000000..97a39196e84db97954341162a6d2e7f771d938c0
--- /dev/null
+++ b/Code/ROS_Nodes_fuer_2_Sensoren/line_follower_pkg/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+ rc = main(argv=['.', 'test'])
+ assert rc == 0, 'Found errors'
diff --git a/Code/ROS_Nodes_fuer_2_Sensoren/line_follower_pkg/test/test_flake8.py b/Code/ROS_Nodes_fuer_2_Sensoren/line_follower_pkg/test/test_flake8.py
new file mode 100644
index 0000000000000000000000000000000000000000..27ee1078ff077cc3a0fec75b7d023101a68164d1
--- /dev/null
+++ b/Code/ROS_Nodes_fuer_2_Sensoren/line_follower_pkg/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+ rc, errors = main_with_errors(argv=[])
+ assert rc == 0, \
+ 'Found %d code style errors / warnings:\n' % len(errors) + \
+ '\n'.join(errors)
diff --git a/Code/ROS_Nodes_fuer_2_Sensoren/line_follower_pkg/test/test_pep257.py b/Code/ROS_Nodes_fuer_2_Sensoren/line_follower_pkg/test/test_pep257.py
new file mode 100644
index 0000000000000000000000000000000000000000..b234a3840f4c5bd38f043638c8622b8f240e1185
--- /dev/null
+++ b/Code/ROS_Nodes_fuer_2_Sensoren/line_follower_pkg/test/test_pep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+ rc = main(argv=['.', 'test'])
+ assert rc == 0, 'Found code style errors / warnings'
diff --git a/Code/ROS_Nodes_fuer_2_Sensoren/pico_reader_pkg/package.xml b/Code/ROS_Nodes_fuer_2_Sensoren/pico_reader_pkg/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f09c1359b3def53e576397710d621e114721a6e7
--- /dev/null
+++ b/Code/ROS_Nodes_fuer_2_Sensoren/pico_reader_pkg/package.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+ <name>pico_reader_pkg</name>
+ <version>0.0.0</version>
+ <description>TODO: Package description</description>
+ <maintainer email="turtlebot@todo.todo">turtlebot</maintainer>
+ <license>TODO: License declaration</license>
+
+ <test_depend>ament_copyright</test_depend>
+ <test_depend>ament_flake8</test_depend>
+ <test_depend>ament_pep257</test_depend>
+ <test_depend>python3-pytest</test_depend>
+
+ <export>
+ <build_type>ament_python</build_type>
+ </export>
+</package>
diff --git a/Code/ROS_Nodes_fuer_2_Sensoren/pico_reader_pkg/pico_reader_pkg/__init__.py b/Code/ROS_Nodes_fuer_2_Sensoren/pico_reader_pkg/pico_reader_pkg/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/Code/ROS_Nodes_fuer_2_Sensoren/pico_reader_pkg/pico_reader_pkg/pico_reader_node.py b/Code/ROS_Nodes_fuer_2_Sensoren/pico_reader_pkg/pico_reader_pkg/pico_reader_node.py
new file mode 100644
index 0000000000000000000000000000000000000000..84457f7bf8ae4327bc48aaaab6f8daba811bd47d
--- /dev/null
+++ b/Code/ROS_Nodes_fuer_2_Sensoren/pico_reader_pkg/pico_reader_pkg/pico_reader_node.py
@@ -0,0 +1,48 @@
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import String
+import serial
+
+class PicoUSBReader(Node):
+ def __init__(self):
+ super().__init__('pico_usb_reader')
+
+ # Publisher für das ROS 2 Topic
+ self.publisher = self.create_publisher(String, 'pico_data', 10)
+
+ # Seriellen Port öffnen (Passe die Port-Adresse ggf. an)
+ try:
+ self.serial_port = serial.Serial('/dev/ttyACM0', baudrate=9600, timeout=1)
+ self.get_logger().info("Verbindung zum Pico hergestellt (USB)")
+ except serial.SerialException as e:
+ self.get_logger().error(f"Konnte seriellen Port nicht öffnen: {e}")
+ self.serial_port = None
+
+ # Timer einrichten, um Daten vom Pico zu lesen
+ self.timer = self.create_timer(0.1, self.read_from_pico)
+
+ def read_from_pico(self):
+ if self.serial_port and self.serial_port.in_waiting > 0:
+ try:
+ data = self.serial_port.readline().decode('utf-8').strip()
+ msg = String()
+ msg.data = data
+ self.publisher.publish(msg)
+ self.get_logger().info(f"{data}")
+ except Exception as e:
+ self.get_logger().error(f"Fehler beim Lesen der Daten: {e}")
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = PicoUSBReader()
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
+
diff --git a/Code/ROS_Nodes_fuer_2_Sensoren/pico_reader_pkg/resource/pico_reader_pkg b/Code/ROS_Nodes_fuer_2_Sensoren/pico_reader_pkg/resource/pico_reader_pkg
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/Code/ROS_Nodes_fuer_2_Sensoren/pico_reader_pkg/setup.cfg b/Code/ROS_Nodes_fuer_2_Sensoren/pico_reader_pkg/setup.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..3609d04a475e25ff64b5f0f2098d834ff658a4b0
--- /dev/null
+++ b/Code/ROS_Nodes_fuer_2_Sensoren/pico_reader_pkg/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/pico_reader_pkg
+[install]
+install_scripts=$base/lib/pico_reader_pkg
diff --git a/Code/ROS_Nodes_fuer_2_Sensoren/pico_reader_pkg/setup.py b/Code/ROS_Nodes_fuer_2_Sensoren/pico_reader_pkg/setup.py
new file mode 100644
index 0000000000000000000000000000000000000000..3d58152e10050bb5c6b8eb9e3b919a5ffc19037d
--- /dev/null
+++ b/Code/ROS_Nodes_fuer_2_Sensoren/pico_reader_pkg/setup.py
@@ -0,0 +1,27 @@
+from setuptools import find_packages, setup
+
+package_name = 'pico_reader_pkg'
+
+setup(
+ name=package_name,
+ version='0.0.0',
+ packages=find_packages(exclude=['test']),
+ data_files=[
+ ('share/ament_index/resource_index/packages',
+ ['resource/' + package_name]),
+ ('share/' + package_name, ['package.xml']),
+ ],
+ install_requires=['setuptools'],
+ zip_safe=True,
+ maintainer='turtlebot',
+ maintainer_email='turtlebot@todo.todo',
+ description='ROS 2 Package for reading data from a Raspberry Pi Pico via USB',
+ license='Apache License 2.0',
+ tests_require=['pytest'],
+ entry_points={
+ 'console_scripts': [
+ 'pico_reader_node = pico_reader_pkg.pico_reader_node:main',
+ ],
+ },
+)
+
diff --git a/Code/ROS_Nodes_fuer_2_Sensoren/pico_reader_pkg/test/test_copyright.py b/Code/ROS_Nodes_fuer_2_Sensoren/pico_reader_pkg/test/test_copyright.py
new file mode 100644
index 0000000000000000000000000000000000000000..97a39196e84db97954341162a6d2e7f771d938c0
--- /dev/null
+++ b/Code/ROS_Nodes_fuer_2_Sensoren/pico_reader_pkg/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+ rc = main(argv=['.', 'test'])
+ assert rc == 0, 'Found errors'
diff --git a/Code/ROS_Nodes_fuer_2_Sensoren/pico_reader_pkg/test/test_flake8.py b/Code/ROS_Nodes_fuer_2_Sensoren/pico_reader_pkg/test/test_flake8.py
new file mode 100644
index 0000000000000000000000000000000000000000..27ee1078ff077cc3a0fec75b7d023101a68164d1
--- /dev/null
+++ b/Code/ROS_Nodes_fuer_2_Sensoren/pico_reader_pkg/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+ rc, errors = main_with_errors(argv=[])
+ assert rc == 0, \
+ 'Found %d code style errors / warnings:\n' % len(errors) + \
+ '\n'.join(errors)
diff --git a/Code/ROS_Nodes_fuer_2_Sensoren/pico_reader_pkg/test/test_pep257.py b/Code/ROS_Nodes_fuer_2_Sensoren/pico_reader_pkg/test/test_pep257.py
new file mode 100644
index 0000000000000000000000000000000000000000..b234a3840f4c5bd38f043638c8622b8f240e1185
--- /dev/null
+++ b/Code/ROS_Nodes_fuer_2_Sensoren/pico_reader_pkg/test/test_pep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+ rc = main(argv=['.', 'test'])
+ assert rc == 0, 'Found code style errors / warnings'
diff --git a/Code/ROS_Nodes_fuer_5_Sensoren/README.md b/Code/ROS_Nodes_fuer_5_Sensoren/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..221fe48a0b5e339623f6766da86d53f0c2ee5b51
--- /dev/null
+++ b/Code/ROS_Nodes_fuer_5_Sensoren/README.md
@@ -0,0 +1,2 @@
+###### Klassendiagramm der *line_follower_node*
+
\ No newline at end of file
diff --git a/Code/ROS_Nodes_fuer_5_Sensoren/line_follower_pkg/line_follower_pkg/__init__.py b/Code/ROS_Nodes_fuer_5_Sensoren/line_follower_pkg/line_follower_pkg/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/Code/ROS_Nodes_fuer_5_Sensoren/line_follower_pkg/line_follower_pkg/line_follower_node.py b/Code/ROS_Nodes_fuer_5_Sensoren/line_follower_pkg/line_follower_pkg/line_follower_node.py
new file mode 100644
index 0000000000000000000000000000000000000000..50418593def2d21f236bdd88ba9f745b700284b5
--- /dev/null
+++ b/Code/ROS_Nodes_fuer_5_Sensoren/line_follower_pkg/line_follower_pkg/line_follower_node.py
@@ -0,0 +1,123 @@
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+from std_msgs.msg import String
+
+
+class LineFollowerNode(Node):
+ def __init__(self):
+ super().__init__('line_follower_node')
+
+ # Publisher für die Steuerung des TurtleBot
+ self.cmd_vel_publisher = self.create_publisher(Twist, '/cmd_vel', 1)
+
+ # Subscriber für die Liniensensor-Daten
+ self.create_subscription(
+ String,
+ 'line_sensor_data',
+ self.line_sensor_callback,
+ 1
+ )
+
+ # Subscriber für die Frontkollision-Daten
+ self.create_subscription(
+ String,
+ 'front_collision_data',
+ self.front_collision_callback,
+ 1
+ )
+
+ # Initialisiere Variablen
+ self.line_sensor_data = [0, 0, 0, 0, 0]
+ self.front_collision_distance = float('inf') # Unendlich groß, kein Hindernis
+
+ # Schwellenwert für die Hinderniserkennung (in cm)
+ self.collision_threshold = 10.0
+
+ self.get_logger().info('Line Follower Node started')
+
+ def line_sensor_callback(self, msg):
+ try:
+ # Liniensensor-Daten als Liste von 1/0 verarbeiten
+ self.line_sensor_data = [int(x) for x in msg.data.split(',')]
+ self.line_sensor_data.reverse()
+ self.get_logger().info(f'Line sensor data: {self.line_sensor_data}')
+ self.control_robot()
+ except ValueError as e:
+ self.get_logger().error(f'Error parsing line sensor data: {e}')
+
+ def front_collision_callback(self, msg):
+ try:
+ # Abstandswert aus der Nachricht extrahieren
+ self.front_collision_distance = float(msg.data)
+ self.get_logger().info(f'Front collision distance: {self.front_collision_distance}')
+ except ValueError as e:
+ self.get_logger().error(f'Error parsing collision data: {e}')
+
+ def control_robot(self):
+ # Erstelle die Steuerungsnachricht
+ twist = Twist()
+
+ # Hindernisvermeidung
+ if self.front_collision_distance < self.collision_threshold and self.front_collision_distance > 0.0:
+ self.get_logger().warn('Obstacle detected! Stopping...')
+ twist.linear.x = 0.0
+ twist.angular.z = 0.0
+ self.cmd_vel_publisher.publish(twist)
+ return
+
+ # Linienverfolgungslogik basierend auf den Liniensensoren
+ # Sensoren: [rechts, mittig-rechts, mittig, mittig-links, links]
+ # Linienverfolgungslogik basierend auf den Liniensensoren
+ # Sensoren: [rechts, mittig-rechts, mittig, mittig-links, links]
+ if self.line_sensor_data[2] == 1 and self.line_sensor_data[1] == 1 and self.line_sensor_data[3] == 1:
+ # Geradeaus
+ twist.linear.x = 0.1
+ twist.angular.z = 0.0
+ self.get_logger().info('Geradeaus')
+ elif self.line_sensor_data[0] == 1:
+ # Voll nach links
+ twist.linear.x = 0.05
+ twist.angular.z = 0.8
+ self.get_logger().info('Hart Links')
+ elif self.line_sensor_data[4] == 1:
+ # Voll nach rechts
+ twist.linear.x = 0.05
+ twist.angular.z = -0.8
+ self.get_logger().info('Hart Rechts')
+ elif self.line_sensor_data[1] == 1:
+ # Nach links
+ twist.linear.x = 0.05
+ twist.angular.z = 0.4
+ self.get_logger().info('Leicht Links')
+ elif self.line_sensor_data[3] == 1:
+ # Nach rechts
+ twist.linear.x = 0.05
+ twist.angular.z = -0.4
+ self.get_logger().info('Leicht Rechts')
+ elif self.line_sensor_data[2] == 1:
+ # Geradeaus
+ twist.linear.x = 0.1
+ twist.angular.z = 0.0
+ self.get_logger().info('Geradeaus')
+ else:
+ # Linie verloren
+ self.get_logger().warn('Line verloren, fahre geradeaus')
+ twist.linear.x = 0.05
+ twist.angular.z = 0.0
+
+ # Steuerungsbefehle veröffentlichen
+ self.cmd_vel_publisher.publish(twist)
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = LineFollowerNode()
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ node.get_logger().info('Node stopped by user')
+ finally:
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
diff --git a/Code/ROS_Nodes_fuer_5_Sensoren/line_follower_pkg/package.xml b/Code/ROS_Nodes_fuer_5_Sensoren/line_follower_pkg/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..80bce246184f93e3a77a395e4f0c5fedae37af48
--- /dev/null
+++ b/Code/ROS_Nodes_fuer_5_Sensoren/line_follower_pkg/package.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+ <name>line_follower_pkg</name>
+ <version>0.0.0</version>
+ <description>TODO: Package description</description>
+ <maintainer email="turtlebot@todo.todo">turtlebot</maintainer>
+ <license>TODO: License declaration</license>
+
+ <depend>rclpy</depend>
+ <depend>std_msgs</depend>
+
+ <test_depend>ament_copyright</test_depend>
+ <test_depend>ament_flake8</test_depend>
+ <test_depend>ament_pep257</test_depend>
+ <test_depend>python3-pytest</test_depend>
+
+ <export>
+ <build_type>ament_python</build_type>
+ </export>
+</package>
diff --git a/Code/ROS_Nodes_fuer_5_Sensoren/line_follower_pkg/resource/line_follower_pkg b/Code/ROS_Nodes_fuer_5_Sensoren/line_follower_pkg/resource/line_follower_pkg
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/Code/ROS_Nodes_fuer_5_Sensoren/line_follower_pkg/setup.cfg b/Code/ROS_Nodes_fuer_5_Sensoren/line_follower_pkg/setup.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..2d13ad284e4de749091d311ddbcaea95d8091d40
--- /dev/null
+++ b/Code/ROS_Nodes_fuer_5_Sensoren/line_follower_pkg/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/line_follower_pkg
+[install]
+install_scripts=$base/lib/line_follower_pkg
diff --git a/Code/ROS_Nodes_fuer_5_Sensoren/line_follower_pkg/setup.py b/Code/ROS_Nodes_fuer_5_Sensoren/line_follower_pkg/setup.py
new file mode 100644
index 0000000000000000000000000000000000000000..26d6a4fda441ceb52684a010d8a7fd309424231b
--- /dev/null
+++ b/Code/ROS_Nodes_fuer_5_Sensoren/line_follower_pkg/setup.py
@@ -0,0 +1,26 @@
+from setuptools import find_packages, setup
+
+package_name = 'line_follower_pkg'
+
+setup(
+ name=package_name,
+ version='0.0.0',
+ packages=find_packages(exclude=['test']),
+ data_files=[
+ ('share/ament_index/resource_index/packages',
+ ['resource/' + package_name]),
+ ('share/' + package_name, ['package.xml']),
+ ],
+ install_requires=['setuptools'],
+ zip_safe=True,
+ maintainer='turtlebot',
+ maintainer_email='turtlebot@todo.todo',
+ description='TODO: Package description',
+ license='TODO: License declaration',
+ tests_require=['pytest'],
+ entry_points={
+ 'console_scripts': [
+ 'line_follower_node = line_follower_pkg.line_follower_node:main',
+ ],
+ },
+)
diff --git a/Code/ROS_Nodes_fuer_5_Sensoren/line_follower_pkg/test/test_copyright.py b/Code/ROS_Nodes_fuer_5_Sensoren/line_follower_pkg/test/test_copyright.py
new file mode 100644
index 0000000000000000000000000000000000000000..97a39196e84db97954341162a6d2e7f771d938c0
--- /dev/null
+++ b/Code/ROS_Nodes_fuer_5_Sensoren/line_follower_pkg/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+ rc = main(argv=['.', 'test'])
+ assert rc == 0, 'Found errors'
diff --git a/Code/ROS_Nodes_fuer_5_Sensoren/line_follower_pkg/test/test_flake8.py b/Code/ROS_Nodes_fuer_5_Sensoren/line_follower_pkg/test/test_flake8.py
new file mode 100644
index 0000000000000000000000000000000000000000..27ee1078ff077cc3a0fec75b7d023101a68164d1
--- /dev/null
+++ b/Code/ROS_Nodes_fuer_5_Sensoren/line_follower_pkg/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+ rc, errors = main_with_errors(argv=[])
+ assert rc == 0, \
+ 'Found %d code style errors / warnings:\n' % len(errors) + \
+ '\n'.join(errors)
diff --git a/Code/ROS_Nodes_fuer_5_Sensoren/line_follower_pkg/test/test_pep257.py b/Code/ROS_Nodes_fuer_5_Sensoren/line_follower_pkg/test/test_pep257.py
new file mode 100644
index 0000000000000000000000000000000000000000..b234a3840f4c5bd38f043638c8622b8f240e1185
--- /dev/null
+++ b/Code/ROS_Nodes_fuer_5_Sensoren/line_follower_pkg/test/test_pep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+ rc = main(argv=['.', 'test'])
+ assert rc == 0, 'Found code style errors / warnings'
diff --git a/Code/ROS_Nodes_fuer_5_Sensoren/pico_reader_pkg/package.xml b/Code/ROS_Nodes_fuer_5_Sensoren/pico_reader_pkg/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f09c1359b3def53e576397710d621e114721a6e7
--- /dev/null
+++ b/Code/ROS_Nodes_fuer_5_Sensoren/pico_reader_pkg/package.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+ <name>pico_reader_pkg</name>
+ <version>0.0.0</version>
+ <description>TODO: Package description</description>
+ <maintainer email="turtlebot@todo.todo">turtlebot</maintainer>
+ <license>TODO: License declaration</license>
+
+ <test_depend>ament_copyright</test_depend>
+ <test_depend>ament_flake8</test_depend>
+ <test_depend>ament_pep257</test_depend>
+ <test_depend>python3-pytest</test_depend>
+
+ <export>
+ <build_type>ament_python</build_type>
+ </export>
+</package>
diff --git a/Code/ROS_Nodes_fuer_5_Sensoren/pico_reader_pkg/pico_reader_pkg/__init__.py b/Code/ROS_Nodes_fuer_5_Sensoren/pico_reader_pkg/pico_reader_pkg/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/Code/ROS_Nodes_fuer_5_Sensoren/pico_reader_pkg/pico_reader_pkg/pico_reader_node.py b/Code/ROS_Nodes_fuer_5_Sensoren/pico_reader_pkg/pico_reader_pkg/pico_reader_node.py
new file mode 100644
index 0000000000000000000000000000000000000000..4e155b53a026c10d1b5095399aad2cbf774a6ada
--- /dev/null
+++ b/Code/ROS_Nodes_fuer_5_Sensoren/pico_reader_pkg/pico_reader_pkg/pico_reader_node.py
@@ -0,0 +1,72 @@
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import String
+import serial
+
+class PicoReaderNode(Node):
+ def __init__(self):
+ super().__init__('pico_reader_node')
+ self.declare_parameter('serial_port', '/dev/ttyACM0') # Neue serielle Schnittstelle
+ self.declare_parameter('baud_rate', 9600) # Neue Baudrate
+
+ serial_port = self.get_parameter('serial_port').get_parameter_value().string_value
+ baud_rate = self.get_parameter('baud_rate').get_parameter_value().integer_value
+
+ try:
+ self.serial_conn = serial.Serial(serial_port, baud_rate, timeout=1)
+ self.get_logger().info(f'Connected to serial port: {serial_port}')
+ except Exception as e:
+ self.get_logger().error(f'Failed to connect to serial port: {e}')
+ rclpy.shutdown()
+
+ self.line_sensor_publisher = self.create_publisher(String, 'line_sensor_data', 1)
+ self.front_collision_publisher = self.create_publisher(String, 'front_collision_data', 1)
+
+ self.timer = self.create_timer(0.05, self.read_from_pico) # 20 Hz Update-Rate (0.05 Sekunden)
+
+ def read_from_pico(self):
+ try:
+ if self.serial_conn.in_waiting > 0:
+ data = self.serial_conn.readline().decode('utf-8').strip()
+ self.process_sensor_data(data)
+ except Exception as e:
+ self.get_logger().error(f'Error reading from serial: {e}')
+
+ def process_sensor_data(self, data):
+ try:
+ # Erwartetes Datenformat: "0,1,1,0,1,25.6"
+ parts = data.split(',')
+ if len(parts) == 6:
+ # Liniensensoren
+ line_sensor_values = parts[:5]
+ line_sensor_msg = String()
+ line_sensor_msg.data = ','.join(line_sensor_values)
+ self.line_sensor_publisher.publish(line_sensor_msg)
+
+ # HC-SR04 (Entfernung)
+ distance_value = parts[5]
+ collision_msg = String()
+ collision_msg.data = distance_value
+ self.front_collision_publisher.publish(collision_msg)
+
+ self.get_logger().info(f'Published line sensor data: {line_sensor_msg.data}')
+ self.get_logger().info(f'Published front collision data: {collision_msg.data}')
+ else:
+ self.get_logger().warn(f'Unexpected data format: {data}')
+ except Exception as e:
+ self.get_logger().error(f'Error processing sensor data: {e}')
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = PicoReaderNode()
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ node.get_logger().info('Node stopped by user')
+ finally:
+ if node.serial_conn:
+ node.serial_conn.close()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
diff --git a/Code/ROS_Nodes_fuer_5_Sensoren/pico_reader_pkg/resource/pico_reader_pkg b/Code/ROS_Nodes_fuer_5_Sensoren/pico_reader_pkg/resource/pico_reader_pkg
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/Code/ROS_Nodes_fuer_5_Sensoren/pico_reader_pkg/setup.cfg b/Code/ROS_Nodes_fuer_5_Sensoren/pico_reader_pkg/setup.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..3609d04a475e25ff64b5f0f2098d834ff658a4b0
--- /dev/null
+++ b/Code/ROS_Nodes_fuer_5_Sensoren/pico_reader_pkg/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/pico_reader_pkg
+[install]
+install_scripts=$base/lib/pico_reader_pkg
diff --git a/Code/ROS_Nodes_fuer_5_Sensoren/pico_reader_pkg/setup.py b/Code/ROS_Nodes_fuer_5_Sensoren/pico_reader_pkg/setup.py
new file mode 100644
index 0000000000000000000000000000000000000000..3d58152e10050bb5c6b8eb9e3b919a5ffc19037d
--- /dev/null
+++ b/Code/ROS_Nodes_fuer_5_Sensoren/pico_reader_pkg/setup.py
@@ -0,0 +1,27 @@
+from setuptools import find_packages, setup
+
+package_name = 'pico_reader_pkg'
+
+setup(
+ name=package_name,
+ version='0.0.0',
+ packages=find_packages(exclude=['test']),
+ data_files=[
+ ('share/ament_index/resource_index/packages',
+ ['resource/' + package_name]),
+ ('share/' + package_name, ['package.xml']),
+ ],
+ install_requires=['setuptools'],
+ zip_safe=True,
+ maintainer='turtlebot',
+ maintainer_email='turtlebot@todo.todo',
+ description='ROS 2 Package for reading data from a Raspberry Pi Pico via USB',
+ license='Apache License 2.0',
+ tests_require=['pytest'],
+ entry_points={
+ 'console_scripts': [
+ 'pico_reader_node = pico_reader_pkg.pico_reader_node:main',
+ ],
+ },
+)
+
diff --git a/Code/ROS_Nodes_fuer_5_Sensoren/pico_reader_pkg/test/test_copyright.py b/Code/ROS_Nodes_fuer_5_Sensoren/pico_reader_pkg/test/test_copyright.py
new file mode 100644
index 0000000000000000000000000000000000000000..97a39196e84db97954341162a6d2e7f771d938c0
--- /dev/null
+++ b/Code/ROS_Nodes_fuer_5_Sensoren/pico_reader_pkg/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+ rc = main(argv=['.', 'test'])
+ assert rc == 0, 'Found errors'
diff --git a/Code/ROS_Nodes_fuer_5_Sensoren/pico_reader_pkg/test/test_flake8.py b/Code/ROS_Nodes_fuer_5_Sensoren/pico_reader_pkg/test/test_flake8.py
new file mode 100644
index 0000000000000000000000000000000000000000..27ee1078ff077cc3a0fec75b7d023101a68164d1
--- /dev/null
+++ b/Code/ROS_Nodes_fuer_5_Sensoren/pico_reader_pkg/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+ rc, errors = main_with_errors(argv=[])
+ assert rc == 0, \
+ 'Found %d code style errors / warnings:\n' % len(errors) + \
+ '\n'.join(errors)
diff --git a/Code/ROS_Nodes_fuer_5_Sensoren/pico_reader_pkg/test/test_pep257.py b/Code/ROS_Nodes_fuer_5_Sensoren/pico_reader_pkg/test/test_pep257.py
new file mode 100644
index 0000000000000000000000000000000000000000..b234a3840f4c5bd38f043638c8622b8f240e1185
--- /dev/null
+++ b/Code/ROS_Nodes_fuer_5_Sensoren/pico_reader_pkg/test/test_pep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+ rc = main(argv=['.', 'test'])
+ assert rc == 0, 'Found code style errors / warnings'
diff --git a/Code/RPi4(Python)/TCRT5000.py b/Code/RPi4(Python)/TCRT5000.py
new file mode 100644
index 0000000000000000000000000000000000000000..bc47f347a5ab1c7d5c6ba7fe9ea01cc297afc040
--- /dev/null
+++ b/Code/RPi4(Python)/TCRT5000.py
@@ -0,0 +1,41 @@
+# Auslesen zweier TCRT5000 Liniensensoren auf einem Raspberry Pi 4 unter Ubuntu 22.04
+
+import RPi.GPIO as GPIO
+import time
+
+# Pin-Nummer des Linken Sensors (OUT-Pin ist mit GPIO17 verbunden)
+LEFT_PIN = 17
+# Pin-Nummer des Rechten Sensors (OUT-Pin ist mit GPIO26 verbunden)
+RIGHT_PIN = 26
+
+# GPIO-Modus einstellen
+GPIO.setmode(GPIO.BCM)
+GPIO.setup(LEFT_PIN, GPIO.IN)
+GPIO.setup(RIGHT_PIN, GPIO.IN)
+
+
+try:
+ while True:
+ # Sensor-Ausgang lesen
+ left_value = GPIO.input(LEFT_PIN)
+ right_value = GPIO.input(RIGHT_PIN)
+
+ if left_value == 1:
+ print("LINKS: 1 -> schwarz")
+ else:
+ print("LINKS: 0 -> hell")
+
+ if right_value == 1:
+ print("RECHTS: 1 -> schwarz")
+ else:
+ print("RECHTS: 0 -> hell")
+
+ # Verzögerung für bessere Lesbarkeit
+ time.sleep(0.3)
+
+except KeyboardInterrupt:
+ print("Programm beendet")
+
+finally:
+ GPIO.cleanup()
+
diff --git a/Code/RPi4(Python)/hc_sr04.py b/Code/RPi4(Python)/hc_sr04.py
new file mode 100644
index 0000000000000000000000000000000000000000..f22ea8b74ddcd5b6c69aac3713c383fcc33deb42
--- /dev/null
+++ b/Code/RPi4(Python)/hc_sr04.py
@@ -0,0 +1,49 @@
+# Den HC-SR04 mit einem Raspberry Pi 4 unter Ubuntu auslesen
+
+import RPi.GPIO as GPIO
+import time
+
+# Pin-Definitionen (Passe sie an dein Setup an)
+TRIG_PIN = 2 # Pin für TRIG
+ECHO_PIN = 3 # Pin für ECHO
+
+# GPIO konfigurieren
+GPIO.setmode(GPIO.BCM)
+GPIO.setup(TRIG_PIN, GPIO.OUT)
+GPIO.setup(ECHO_PIN, GPIO.IN)
+
+def get_distance():
+ """
+ Misst die Entfernung mithilfe des HC-SR04 Sensors.
+ Gibt die Entfernung in Zentimetern zurück.
+ """
+ # Trigger-Puls erzeugen
+ GPIO.output(TRIG_PIN, True)
+ time.sleep(0.00001) # 10 µs Pulse
+ GPIO.output(TRIG_PIN, False)
+
+ # Warte auf den Start des ECHO-Signals
+ while GPIO.input(ECHO_PIN) == 0:
+ start_time = time.time()
+
+ # Warte auf das Ende des ECHO-Signals
+ while GPIO.input(ECHO_PIN) == 1:
+ end_time = time.time()
+
+ # Zeitdifferenz berechnen
+ duration = end_time - start_time
+
+ # Entfernung berechnen (Schallgeschwindigkeit = 34300 cm/s)
+ distance = (duration * 34300) / 2 # Hin- und Rückweg beachten
+ return distance
+
+try:
+ while True:
+ dist = get_distance()
+ print(f"Gemessene Entfernung: {dist:.2f} cm")
+ time.sleep(1) # Wartezeit zwischen Messungen
+
+except KeyboardInterrupt:
+ print("Messung beendet")
+ GPIO.cleanup() # GPIO sauber freigeben
+
diff --git a/Code/RPi4(Python)/led.py b/Code/RPi4(Python)/led.py
new file mode 100644
index 0000000000000000000000000000000000000000..5dcfa4f20a4b649582c05caa5c47179a434622f8
--- /dev/null
+++ b/Code/RPi4(Python)/led.py
@@ -0,0 +1,22 @@
+import RPi.GPIO as GPIO
+import time
+
+# GPIO-Modus einstellen (BCM oder BOARD)
+
+GPIO.setmode(GPIO.BCM)
+
+# GPIO-Pin definieren
+LED_PIN = 17
+
+# Pin als Ausgang festlegen
+GPIO.setup(LED_PIN, GPIO.OUT)
+
+# LED blinken lassen
+try:
+ while True:
+ GPIO.output(LED_PIN, GPIO.HIGH) # LED einschalten
+ time.sleep(1) # 1 Sekunde warten
+ GPIO.output(LED_PIN, GPIO.LOW) # LED ausschalten
+ time.sleep(1)
+except KeyboardInterrupt:
+ GPIO.cleanup() # GPIO-Pins zurücksetzen
\ No newline at end of file
diff --git a/Code/RPi4(Python)/line_follower_node.py b/Code/RPi4(Python)/line_follower_node.py
new file mode 100644
index 0000000000000000000000000000000000000000..a753d3fdb708a29f0d2a6595547f2d741fecdb72
--- /dev/null
+++ b/Code/RPi4(Python)/line_follower_node.py
@@ -0,0 +1,68 @@
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+from std_msgs.msg import String
+
+class LineFollowerNode(Node):
+ def __init__(self):
+ super().__init__('line_follower')
+
+ # Abonnieren der Pico-Daten
+ self.sensor_subscription = self.create_subscription(
+ String,
+ 'pico_data', # Topic für die Pico-Daten
+ self.sensor_callback,
+ 10)
+
+ # Publisher für Bewegungsbefehle
+ self.cmd_publisher = self.create_publisher(Twist, '/cmd_vel', 10)
+
+ # Initialisierung der Steuerungsvariablen
+ self.left_sensor = 0.0
+ self.right_sensor = 0.0
+
+ def sensor_callback(self, msg):
+ try:
+ # Verarbeiten der Sensordaten aus der Nachricht
+ data = msg.data.split(',') # Annahme: Daten sind als "Wert1,Wert2" formatiert
+ self.left_sensor = float(data[0]) # Linker Sensorwert
+ self.right_sensor = float(data[1]) # Rechter Sensorwert
+ self.get_logger().info(f"Left: {self.left_sensor}, Right: {self.right_sensor}")
+
+ # Linie folgen
+ self.follow_line()
+ except (ValueError, IndexError) as e:
+ self.get_logger().error(f"Fehler beim Verarbeiten der Sensordaten: {e}")
+
+ def follow_line(self):
+ twist_msg = Twist()
+
+ if self.left_sensor > self.right_sensor:
+ # Drehe nach links
+ twist_msg.linear.x = 0.05
+ twist_msg.angular.z = -0.2
+ elif self.right_sensor > self.left_sensor:
+ # Drehe nach rechts
+ twist_msg.linear.x = 0.05
+ twist_msg.angular.z = +0.2
+ else:
+ # Geradeaus fahren
+ twist_msg.linear.x = 0.1
+ twist_msg.angular.z = 0.0
+
+ # Bewegungsbefehle senden
+ self.cmd_publisher.publish(twist_msg)
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = LineFollowerNode()
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
diff --git a/Code/RPi4(Python)/read_pico.py b/Code/RPi4(Python)/read_pico.py
new file mode 100644
index 0000000000000000000000000000000000000000..8e36a7af3dc603ff4a0932142ec9f2e8d071342d
--- /dev/null
+++ b/Code/RPi4(Python)/read_pico.py
@@ -0,0 +1,33 @@
+# Liest die Signale eines über USB angeschlossenen
+# Raspberry Pi Picos aus und gibt diese aus.
+# Der Pico sollte sich auf einem Raspberry Pi
+# mit ls /dev/tty* finden lassen.
+
+import serial
+import time
+
+# Seriellen Port und Baudrate definieren
+SERIAL_PORT = '/dev/ttyACM0' # Passe dies an, falls nötig
+BAUD_RATE = 9600
+
+try:
+ # Verbindung zum Pico öffnen
+ pico_serial = serial.Serial(SERIAL_PORT, BAUD_RATE, timeout=1)
+ print(f"Verbindung zu {SERIAL_PORT} hergestellt")
+
+ while True:
+ # Daten vom Pico lesen
+ if pico_serial.in_waiting > 0:
+ data = pico_serial.readline().decode('utf-8').strip()
+ print(f"Empfangen: {data}")
+
+except serial.SerialException as e:
+ print(f"Fehler bei der seriellen Verbindung: {e}")
+
+except KeyboardInterrupt:
+ print("Programm beendet")
+
+finally:
+ if 'pico_serial' in locals() and pico_serial.is_open:
+ pico_serial.close()
+ print("Serielle Verbindung geschlossen")
diff --git a/Code/check_battery.sh b/Code/check_battery.sh
new file mode 100644
index 0000000000000000000000000000000000000000..797454b27e3c39bce7235ebb72489c7cefcda39c
--- /dev/null
+++ b/Code/check_battery.sh
@@ -0,0 +1,20 @@
+# Dieses Skript soll auf einem Turtlebot die Batterieladung ausgeben
+
+
+#!/bin/bash
+
+# ROS 2 Umgebung sourcen (Pfad anpassen)
+source /opt/ros/<ros_distribution>/setup.bash
+
+# Abonniere das /battery_state Topic und verarbeite die Batteriedaten
+echo "Starte Batteriestatus-Ãœberwachung des TurtleBot..."
+ros2 topic echo /battery_state | while read -r line; do
+ if [[ $line == *"percentage:"* ]]; then
+ # Extrahiere den Prozentsatz
+ percentage=$(echo "$line" | awk '{print $2}')
+ # Multipliziere mit 100, um den Wert in Prozent zu erhalten
+ percentage_in_percent=$(awk "BEGIN {print $percentage * 100}")
+ # Ausgabe der Batterieladung in derselben Zeile
+ echo -ne "Batterieladung: ${percentage_in_percent}%\r"
+ fi
+done
diff --git a/Code/turtlebot.zip b/Code/turtlebot.zip
new file mode 100644
index 0000000000000000000000000000000000000000..c6dd8417cad8ec707cdf5461d38e066b81db43bb
Binary files /dev/null and b/Code/turtlebot.zip differ
diff --git a/Dokumentation/Inbetriebnahme_Turtlebot_4.md b/Dokumentation/Inbetriebnahme_Turtlebot_4.md
new file mode 100644
index 0000000000000000000000000000000000000000..6c14515df18cc8a14299aa81ff6e0a7457a2acf2
--- /dev/null
+++ b/Dokumentation/Inbetriebnahme_Turtlebot_4.md
@@ -0,0 +1,76 @@
+1. [Inbetriebnahme Turtlebot 4](Dokumentation/Inbetriebnahme_Turtlebot_4.md)
+2. [ROS Basics](Dokumentation/ROS2_Basics.md)
+3. [Sensoren](Dokumentation/Sensoren.md)
+4. [Navigation](Dokumentation/Navigation.md)
+
+---
+# Inbetriebnahme Turtlebot 4
+
+### Den Raspberry Pi aufsetzten
+
+Hierzu sollte man den [Raspberry Pi Imager](https://www.raspberrypi.com/software/) oder Ähnliches installiert haben.
+###### Vorgefertigtes Image für einen Raspberry Pi 4 installieren *(Empfohlen)*
+- mit **Ubuntu 22.04**
+- auf dem **ROS2 Humble** läuft
+- mit welchem ein **Turtlebot 4** voll funktionsfähig ist
+- mit Benutzernamen `turtlebot` und Passwort `turtlebot4`
+- und auf welchem SSH aktiviert ist
+
+Wir haben manuell einmal die Umgebung für einen Turtlebot 4 aufgesetzt und haben davon ein Image erstellt. Dieses findet sich **[hier](../Code/turtlebot.zip)** und kann mit dem Raspberry Pi Imager auf eine SD Karte kopiert werden.
+
+Alternativ werden auf der ROS Seite auch fertige Images zum [Download](http://download.ros.org/downloads/turtlebot4/) angeboten, dieses hat bei uns aber nicht funktioniert. Die Anmeldedaten sind hier `ubuntu` und `turtlebot4`.
+
+###### Manuell selbst aufsetzen
+- Im Raspberrry Pi Imager als Betriebssystem `Ubuntu Server 22.04.05 LTS (64-bit)` unter `Other general-purpose OS` -> `Ubuntu` auswählen
+- Es bietet sich an im nächsten Schritt direkt SSH zu aktiveren um direkt in einen headless Betrieb (also ohne Monitor, Tastatur etc.) zu ermöglichen. In diesem Schritt lässt sich auch gleich das WLAN einrichten.
+
+ <img src="/Bilder/pi_imager.png" alt="Imager" width="800">
+
+ <img src="/Bilder/Anpassungen.png" alt="Anpassungen" width="800">
+
+ <img src="/Bilder/SSH.png" alt="SSH" width="400">
+
+ *Screenshots aus dem [Raspberry Pi Imager](https://www.raspberrypi.com/software/)*
+- Den Raspberry Pi in Betrieb nehmen und aktualisieren mit `sudo apt update && sudo apt upgrade -y`
+- Jetzt bieten sich zwei Möglichkeiten
+ - **Option A: Setup Skript *(Empfohlen)***
+ - Wie [hier](https://github.com/turtlebot/turtlebot4_setup/tree/humble) beschrieben Skript runterladen und ausführen mit:
+
+ ``` wget -qO - https://raw.githubusercontent.com/turtlebot/turtlebot4_setup/humble/scripts/turtlebot4_setup.sh | bash ```
+ - **Option B: Software manuell installieren**
+ - [ROS2 installieren](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html)
+ - [Turtlebot 4 Pakete installieren](https://turtlebot.github.io/turtlebot4-user-manual/setup/basic.html)
+
+
+###### WLAN Setup
+- Standardmäßig befindet sich der Turtlebot im Access-Point Mode. Das heißt Der Turtlebot eröffnet sein eigenes WLAN mit dem Namen `Turtlebot4` und dem Passwort `Turtlebot4`.
+- Mit `turtlebot4-setup` das WLAN Setup ändern. Es lassen sich WLAN Name und Passwort des vom Turtlebot eröffneten Netzwerks ändern aber auch in den Client Mode wechseln mit welchem sich der Turtlebot in ein beliebiges anderes WLAN einbinden lässt.
+
+ <img src="/Bilder/turtlebot-setup.png" alt="turtlebot-setup" width="800">
+
+ <img src="/Bilder/wifi-setup.png" alt="wifi-setup" width="800">
+
+- Erfahrungsgemäß braucht der Turtlebot nach ändern dieser Einstellungen einen Neustart mit einer gewissen Pause vor dem erneuten Hochfahren um die Änderungen erfolgreich anzuwenden.
+- Ist der Turtlebot durch das Ändern der Einstellungen nicht mehr erreichbar bietet es sich an den Pi per LAN Kabel an einen Router zu hängen, sich per SSH mit dem Turtlebot zu verbinden und erneut mit `turtlebot4-setup` den Fehler zu begradigen.
+- Sollte man die IP des Pis nicht kennen können Netzwerkscanner helfen mit denen alle Geräte in einem Netzwerk samt IP aufgelistet werden. Unter Windows wäre das zum Beispiel [Advanced IP Scanner](https://www.heise.de/download/product/advanced-ip-scanner-19718) oder unter Android [Wifiman](https://play.google.com/store/apps/details?id=com.ubnt.usurvey&hl=de).
+- Hilfreich war für uns auch das SFTP Protokoll und [Filezilla](https://filezilla-project.org/). Mit SFPT lassen sich Daten über SSH transportieren, die Anmeldung funktioniert wie bei SSH.
+
+ <img src="/Bilder/filezilla.png" alt="Filezilla" width="800">
+
+ *Screenshot aus [Filezilla](https://filezilla-project.org/)*
+###### Troubleshooting - falls Probleme auftreten
+- Sicherstellen dass die Firmware der Create 3 Basis auch der ROS Version des Turtlebots entspricht, in unserem Fall ROS 2 Humble. Ist das nicht der Fall kann der Pi Probleme haben mit der Create 3 Basis zu kommunizieren, entsprechend fehlen dann bestimmte ROS Nodes und der Turtlebot kann beispielsweise nicht fahren. Das Ganze lässt sich auf dem Webserver des Create 3 überprüfen. Hierzu die IP des Pis mit dem Port 8080 in den Browser eingeben (in unserem Fall zB. `192.168.178.155:8080`).
+
+ <img src="/Bilder/firmware_checken.png" alt="firmware checken" width="800">
+###### Wichtige/Hilfreiche Pakete
+*(erst die Paketlisten aktualisieren mit `sudo apt update`)*
+
+`sudo apt install python3 python3-pip mc tree net-tools`
+- `python3` ist wichtig
+- `python3-pip` pip ist der Paketmanager für Python 3, mit dem sich Python-Bibliotheken aus dem Python Package Index (PyPI) installieren, aktualisieren und verwalten lassen
+- `mc` Midnightcommander, praktischer textbasierter Dateimanager, bringt den eingebauten Editor `mcedit` mit sich
+- `tree` zeigt die Verzeichnisstruktur eines Ordners in einer hierarchischen Baumdarstellung im Terminal an
+- `net-tools` mit dem Befehl `ifconfig` lässt sich beispielsweise die eigene IP auslesen
+
+###### Eigene Sicherheitskopien erstellen
+Es kann sehr wichtig sein Sicherheitskopien der SD Karte vom Raspberry Pi zu erstellen. Unter Windows haben wir dafür [Win32 Disk Imager](https://win32diskimager.org/) verwendet.
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diff --git a/Dokumentation/Navigation.md b/Dokumentation/Navigation.md
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+1. [Inbetriebnahme Turtlebot 4](Dokumentation/Inbetriebnahme_Turtlebot_4.md)
+2. [ROS Basics](Dokumentation/ROS2_Basics.md)
+3. [Sensoren](Dokumentation/Sensoren.md)
+4. [Navigation](Dokumentation/Navigation.md)
+
+---
+
+# Erstes Szenario: Einer Linie folgen mit zwei Liniensensoren
+
+Dieses Navigationsszenario ermöglicht einem TurtleBot, einer Linie auf dem Boden zu folgen. Die Umsetzung erfolgt durch eine Kombination von Hardware (TurtleBot 4, Raspberry Pi Pico, und TCRT5000-Liniensensoren) und einer Softwareintegration unter Verwendung von ROS 2 Humble. Nachfolgend wird der Prozess detailliert beschrieben:
+
+###### Hardwareaufbau
+
+1. **TCRT5000 Liniensensoren**:
+ - Zwei TCRT5000-Sensoren sind für die Erkennung der Linie auf dem Boden zuständig. Sie messen die Helligkeit des Bodens und erkennen den Kontrast zwischen der Linie und der Umgebung.
+ - Diese Sensoren sind physisch ausgelagert und an einen **Raspberry Pi Pico** angeschlossen.
+3. **Raspberry Pi Pico**:
+ - Der Pico fungiert als Mittler, der die Sensordaten von den TCRT5000-Sensoren aufnimmt.
+ - Die Verarbeitung der Daten erfolgt in Echtzeit, und die relevanten Informationen werden über eine **serielle USB-Schnittstelle** an den Hauptrechner des TurtleBot weitergeleitet.
+3. **Raspberry Pi auf dem TurtleBot**:
+ - Der Hauptrechner des TurtleBot empfängt die Sensordaten über die USB-Verbindung und integriert diese in das Robot Operating System (ROS 2 Humble).
+
+###### Software-Integration
+
+Die Software wird durch zwei ROS-Pakete organisiert:
+
+1. **`pico_reader_node`**:
+ - Dieser Node ist für die Kommunikation mit dem Raspberry Pi Pico zuständig.
+ - Er liest die von den TCRT5000-Sensoren gelieferten Sensordaten über die serielle Schnittstelle und veröffentlicht diese als ROS-Topic, sodass andere ROS-Nodes darauf zugreifen können.
+2. **`line_follower_node`**:
+ - Dieser Node empfängt die Sensordaten, die vom `pico_reader_node` bereitgestellt werden.
+ - Basierend auf den Daten entscheidet er, wie der TurtleBot gesteuert werden soll, um der Linie zu folgen.
+ - Typischerweise werden folgende Bewegungslogiken implementiert:
+ - **Beide Sensoren erkennen die Linie**: Der TurtleBot bewegt sich geradeaus.
+ - **Nur der linke Sensor erkennt die Linie**: Der TurtleBot dreht nach links.
+ - **Nur der rechte Sensor erkennt die Linie**: Der TurtleBot dreht nach rechts.
+ - **Kein Sensor erkennt die Linie**: Der TurtleBot stoppt oder sucht nach der Linie.
+
+###### ROS-Integration
+- Die Sensordaten werden als ROS-Topics veröffentlicht, was eine modulare und flexible Architektur ermöglicht.
+- Der `line_follower_node` nutzt diese Topics, um Echtzeit-Befehle an die Bewegungssteuerung des TurtleBots zu senden.
+
+###### Vorteile dieses Setups
+1. **Modularität**:
+ - Durch die Verwendung von ROS können die Nodes unabhängig voneinander entwickelt, getestet und erweitert werden.
+2. **Effiziente Verarbeitung**:
+ - Die Auslagerung der Sensordatenverarbeitung auf den Raspberry Pi Pico entlastet den Hauptrechner des TurtleBots.
+3. **Einfache Erweiterbarkeit**:
+ - Zusätzliche Funktionen wie Hinderniserkennung oder erweiterte Navigationslogik können durch weitere Nodes hinzugefügt werden.
+
+Dieses Szenario stellt eine einfache und dennoch robuste Lösung für die Linienverfolgung dar und zeigt, wie eine durchdachte Hardware- und Softwareintegration die Autonomie mobiler Roboter verbessern kann.
+
+
+#### Erstellen des Workspaces und Pakets
+- Die beiden Pakete `line_follower_pkg` und `pico_reader_pkg` finden sich [hier](../Code/ROS_Nodes_fuer_2_Sensoren).
+- Diese in den `src`-Ordner des eigenen Workspaces kopieren
+- Anschließen bauen und sourcen
+#### Ausführen
+- In einem Fenster mit `ros2 run pico_reader_pkg pico_reader_node` die Sensoren auslesen
+- In einem anderen Fenster mit `ros2 run line_follower_pkg line_follower_node` die Navigation starten
+
+
+
+
+
+# Zweites Szenario: Einer Linie folgen mit fünf Liniensensoren
+
+Wir bauen auf dem ersten Szenario auf, erweitern es auf insgesamt fünf Liniensensoren, einem Ultraschall-Distanzsensor und verpacken alles in einer entsprechenden Einhausung.
+
+### Einhausung Liniensensoren + Ultraschall
+
+<img src="/Bilder/frontal.jpg" alt="Sensoreinhausung" width="600">
+
+Ziel ist es die fünf Liniensensoren und einen Ultraschallsensor mit einem Raspberry Pi Pico auszulesen und über diesen die Messwerte per serieller USB Schnittstelle an den Raspberry Pi 4 weiterzugeben. Hierfür braucht es ein Gehäuse in welchem
+- 1x HC-SR04,
+- 5x TCRT5000
+- und der Raspberry Pi Pico
+
+Platz finden. Dieses wird vorne an den Turtlebot angebracht. Der USB Port des Picos muss zugänglich bleiben.
+
+**Die CAD Dateien finden sich [hier](/Komponenten/).**
+
+
+### **Komponenten und Funktionen**
+
+<img src="/Bilder/Sensoren.jpg" alt="Sensoren" width="600">
+
+##### **1. Liniensensoren (TCRT5000)**
+
+- Der Vorbau beherbergt **fünf TCRT5000-Liniensensoren**, die gleichmäßig im unteren Bereich positioniert sind.
+- Die Sensoren sind nach unten gerichtet und messen die Reflexion von Infrarotlicht auf der Bodenoberfläche. Dies ermöglicht es dem TurtleBot, Bodenmarkierungen oder Linien präzise zu folgen.
+- Die Sensoren wurden in einer leicht gebogenen Anordnung platziert, um eine optimale Abdeckung zu gewährleisten, auch bei Kurvenfahrten.
+
+##### **2. Ultraschallsensor (HC-SR04)**
+
+- Im vorderen Bereich des Vorbaus ist ein **HC-SR04-Ultraschallsensor** integriert. Dieser Sensor misst Entfernungen zu Objekten und erkennt Hindernisse in Fahrtrichtung.
+- Die offene Platzierung des Sensors ermöglicht eine ungestörte Messung im Nahbereich und schützt ihn gleichzeitig vor physischen Einwirkungen.
+
+##### **3. Mikrocontroller (Raspberry Pi Pico)**
+
+- Ein **Raspberry Pi Pico** ist im Inneren des Gehäuses montiert und dient als zentrale Steuerungseinheit für die angeschlossenen Sensoren.
+- Der Pico verarbeitet die Signale der Sensoren und sendet die Daten an die Hauptsteuerung des TurtleBot, dem Raspberry Pi 4, weiter.
+
+
+### Systemstruktur
+
+<img src="/Bilder/systemstruktur.jpg" alt="Systemstruktur" width="800">
+
+### ROS2 Code
+
+###### ROS2-Architektur
+<img src="/Bilder/ros_architektur.jpg" alt="ROS2 Architektur" width="800">
+
+###### Algorithmus
+<img src="/Bilder/algorithmus.jpg" alt="Algorithmus" width="800">
+
+Die beiden ROS2 Nodes finden sich [hier](/Code/ROS_Nodes_fuer_5_Sensoren). Die Benutzung funktioniert analog zum ersten Beispiel.
+
+### Video
+
+
+
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diff --git a/Dokumentation/README.md b/Dokumentation/README.md
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+1. [Inbetriebnahme Turtlebot 4](Dokumentation/Inbetriebnahme_Turtlebot_4.md)
+2. [ROS Basics](Dokumentation/ROS2_Basics.md)
+3. [Sensoren](Dokumentation/Sensoren.md)
+4. [Navigation](Dokumentation/Navigation.md)
\ No newline at end of file
diff --git a/Dokumentation/ROS2_Basics.md b/Dokumentation/ROS2_Basics.md
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+1. [Inbetriebnahme Turtlebot 4](Dokumentation/Inbetriebnahme_Turtlebot_4.md)
+2. [ROS Basics](Dokumentation/ROS2_Basics.md)
+3. [Sensoren](Dokumentation/Sensoren.md)
+4. [Navigation](Dokumentation/Navigation.md)
+
+---
+# ROS2 Basics
+
+***ROS (Robot Operating System)** ist ein Framework zur Entwicklung von Software für Roboter. Es bietet eine Reihe von Tools, Bibliotheken und Konventionen, die Entwicklern dabei helfen, komplexe und robuste Roboteranwendungen zu erstellen. Obwohl der Name "Operating System" impliziert, dass es sich um ein Betriebssystem handelt, ist ROS tatsächlich eine Middleware, die auf einem bestehenden Betriebssystem läuft (normalerweise Linux, wie Ubuntu).
+
+Wir verwenden die Version ROS2 Humble*
+
+#### Häufig genutzte Befehle
+- Liste aller Nodes anzeigen lassen: `ros2 node list`
+- Liste aller Topics anzeigen lassen: `ros2 topic list`
+- Topic-Details anzeigen: `ros2 topic info /hazard_detection`
+- Message-Typ eines Topics anzeigen: `ros2 topic type /hazard_detection`
+- Nachrichten eines Topics auslesen: `ros2 topic echo /topic`
+- Checken welche Workspaces geladen sind: `ros2 pkg list`
+- Das Shell-Skript [check_battery.sh](../Code/check_battery.sh) greift über ROS den Batterieladestand ab und zeigt diesen an
+
+#### Den Turtlebot steuern
+- Mit der Tastatur den Turtlebot fernsteuern: `ros2 run teleop_twist_keyboard teleop_twist_keyboard`
+- Den Turtlebot laden schicken: `ros2 action send_goal /dock irobot_create_msgs/action/Dock "{}"`
+- Das Ding abdocken lassen: `ros2 action send_goal /undock irobot_create_msgs/action/Undock "{}"`
+
+#### Erstellen eines Workspaces und Pakets
+- Ordner erstellen, der Name `ros2_ws` kann dabei beliebig ersetzt werden: ```mkdir -p ~/ros2_ws/src```
+#### Erstellen eines Pakets
+- In den `src` Ordner des Workspaces wechseln: ```cd ~/ros2_ws/src```
+- Das Paket erstellen, dabei auch die Abhängigkeiten angeben: ```ros2 pkg create paket_name --build-type ament_python --dependencies abhängigkeit1 abnhängigkeit2```
+#### Erstellen einer Node
+- In dem gerade erstellten Paket findet sich ein Ordner mit dem selben Namen des Pakets. Hier werden die Nodes gespeichert.
+ So kann beispielsweise die Ordnerstruktur eines Pakets aussehen:
+
+ 
+- In der `setup.py` ist es außerdem wichtig unter `entry_ponts` die Nodes anzugeben.
+ Hier ein Beispiel:
+ 
+#### Das Workspace bauen
+- Zurück ins Stammverzeichnis des Workspaces wechseln: ```cd ~/turtlebot4_ws```
+- Den Workspace bauen: ```colcon build```
+- Den Workspace für ROS auffindbar machen: ```source install/setup.bash``` **Das muss für jede Terminal Instanz separat gemacht werden.**
+
+#### Eine Node ausführen
+- Allgemein: ```ros2 run paketname nodename```
+- Konkretes Beispiel: ```ros2 run line_follower_pkg line_follower_node```
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diff --git a/Dokumentation/Sensoren.md b/Dokumentation/Sensoren.md
new file mode 100644
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+1. [Inbetriebnahme Turtlebot 4](Dokumentation/Inbetriebnahme_Turtlebot_4.md)
+2. [ROS Basics](Dokumentation/ROS2_Basics.md)
+3. [Sensoren](Dokumentation/Sensoren.md)
+4. [Navigation](Dokumentation/Navigation.md)
+
+---
+# Boards
+
+### Raspberry Pi 4 (Pi)
+
+*Der **Raspberry Pi 4** mit **4 GB RAM** dient als zentrale Recheneinheit des **TurtleBot 4** und übernimmt wesentliche Aufgaben wie die Verarbeitung von Sensordaten und die Steuerung der Roboterplattform. Ausgestattet mit einem **Quad-Core ARM Cortex-A72 Prozessor**, **Gigabit-Ethernet**, **WLAN** und **Bluetooth** bietet er eine vielseitige Grundlage für Anwendungen wie Navigation, Kartierung und Kommunikation. Die Integration von **ROS 2** ermöglicht eine einfache Entwicklung und Ausführung von Robotiksoftware, während GPIO-Pins und USB-Anschlüsse die Anbindung zusätzlicher Hardware erleichtern. Der Raspberry Pi 4 bildet damit das Kernstück für die Funktionalität und Erweiterbarkeit des TurtleBot 4.*
+
+##### GPIOs ansteuern unter Ubuntu 22.04
+###### Einrichten der Umgebung
+- Python 3 und Pip (der Python Paketmananger) müsssen installiert sein:`sudo apt install python3 python3-pip`
+- Das Paket *RPi.GPIO* installieren: `pip3 install RPi.GPIO`
+###### Beispiel: Eine LED blinken lassen mit dem Pi [led.py](../Code/RPi4(Python)/led.py)
+###### Unterscheidung Board- und BCM-Modus
+- Im **BOARD-Modus** (auch "physischer Modus" genannt) werden die Pins anhand ihrer **physischen Position auf der GPIO-Leiste** des Raspberry Pi adressiert.
+- Im **BCM-Modus** (Broadcom-Modus) werden die Pins anhand der **GPIO-Nummerierung des Broadcom-Chips** identifiziert.
+
+###### GPIO Belegung:
+
+<img src="https://www.raspberrypi.com/documentation/computers/images/GPIO-Pinout-Diagram-2.png" alt="GPIO Belegung" width="500">
+
+*[Quelle Bild](https://www.raspberrypi.com/documentation/computers/raspberry-pi.html)*
+
+### Raspberry Pi Pico (Pico)
+
+*Der **Raspberry Pi Pico** ist ein Mikrocontroller-Board, das auf dem speziell entwickelten **RP2040-Chip** basiert und ideal für Elektronik-, IoT- und Robotikprojekte ist. Es verfügt über einen **Dual-Core ARM Cortex-M0+ Prozessor**, 264 KB SRAM und 2 MB Flash-Speicher. Mit 26 GPIO-Pins, die Schnittstellen wie **I2C**, **SPI**, **UART** und **PWM** unterstützen, sowie einem **ADC** für analoge Eingaben, bietet der Pico vielseitige Anwendungsmöglichkeiten. Er wird über USB oder eine externe Stromquelle betrieben und kann mit **MicroPython** oder **C/C++** programmiert werden.
+
+Wir verwenden **Micropython** *
+
+- Micropython auf dem PICO installieren: [Anleitung + Download](https://www.raspberrypi.com/documentation/microcontrollers/micropython.html)
+- Micropython IDE für den PICO: [Thonny](https://thonny.org/)
+- In Thonny unter `Werkzeuge` -> `Optionen` -> `Interpreter` 'MicroPython (Raspberry Pi)' auswählen
+ <img src="/Bilder/thonny_interpreter.png" width="600">
+
+ *Screenshot aus [Thonny](https://thonny.org/)*
+- Damit Code automatisch ausgeführt wird muss dieser auf dem Pico als `main.py` gespeichert werden
+
+Beispiele:
+- Die interne LED des Picos blinken lassen [interne_led.py](../Code/Pico(Micropython)/interne_led.py)
+- Eine externe LED blinken lassen mit dem Pico [externe_led.py](../Code/Pico(Micropython)/externe_led.py) + [Visualisierung des Aufbaus](https://wokwi.com/projects/418450844568127489)
+###### GPIO Belegung:
+
+<img src="https://www.raspberrypi.com/documentation/microcontrollers/images/pico2w-pinout.svg" alt="GPIO Belegung" width="600">
+
+
+*[Quelle Bild](https://www.raspberrypi.com/documentation/microcontrollers/pico-series.html)*
+
+# Externe Sensoren
+
+### HC-SR04
+*Ultraschall-Distanzsensor*
+
+<img src="https://botland.de/img/art/inne/16257_6.jpg" alt="HC_SR04" width="300">
+
+- Messbereich von 2 bis 400 cm
+- verwendet Ultraschallwellen um die Entfernung zu einem Objekt zu messen
+ 1. Der Sensor sendet über den **Trigger-Pin** ein Ultraschallsignal (40 kHz) aus.
+ 2. Das Signal trifft auf ein Objekt und wird reflektiert.
+ 3. Der **Echo-Pin** misst die Zeit, die das Signal benötigt, um zurückzukehren.
+ 4. Die Entfernung wird über die Schallgeschwindigkeit berechnet: $\text{Entfernung} = \frac{\text{Zeit} \times \text{Schallgeschwindigkeit}}{2}​$
+- mit dem Raspberry Pi 4 auslesen: [hc_sr04.py](../Code/RPi4(Python)/hc_sr04.py)
+- mit dem Raspberry Pi Pico auslesen: [hc_sr04.py](../Code/Pico(Micropython)/hc_sr04.py) + [Visualisierung des Aufbaus](https://wokwi.com/projects/418451470566981633)
+### TCRT5000
+*Infrarot-Reflexionssensor*
+
+<img src="https://buyzero.de/cdn/shop/products/TCRT5000TrackingSensorModule.jpg?v=1611750766" alt="TCRT5000" width="250">
+
+- sendet Infrarotlicht aus und erkennt das reflektierende Licht mit einem Fototransistor
+- liefert über den OUT-Pin ein digitales Signal: LOW *(0)* bei Hindernis (also reflektiertem Licht, zB. weißer Untergrund), HIGH *(1)* bei keinem Hindernis (kein reflektiertes Licht, zB. schwarzer Untergrund)
+- so kann man den Turtlebot beispielsweise einer Linie folgen lassen, daher auch Liniensensor
+- mit dem Raspberry Pi 4 auslesen: [TCRT5000.py](../Code/RPi4(Python)/TCRT5000.py)
+- mit dem Raspberry Pi Pico auslesen: [TCRT5000.py](../Code/Pico(Micropython)/TCRT5000.py)
+### HLK-LD2450
+*24-GHz-Radarsensor*
+
+<img src="https://m.media-amazon.com/images/I/51Xo7qKEsML._AC_UF894,1000_QL80_.jpg" alt="HLK-LD2450" width="300">
+
+- kompakter 24-GHz-Millimeterwellen-Radarsensor zur Bewegungserkennung und Zielverfolgung
+- misst Entfernung, Winkel und Geschwindigkeit von bis zu drei Zielen
+- UART Schnittstelle mit einer Datenrate von 256.000 Baud
+- Erkennungswinkel: Azimut ±60° *(horizontal)*, Elevation ±35° *(vertikal)*
+- Offizielle des Dokumentation des Herstellers auf [Google Drive](https://drive.google.com/drive/folders/1kTt0Z3hjKKrIF3OCIDGdwQ4KotDJ8SGA)
+
+# Interne Sensoren des TurtleBot 4
+
+### RPLIDAR A1M8
+*2D-LiDAR Sensor*
+
+<img src="https://www.mybotshop.de/media/image/product/105/lg/rplidar-a1m8-360-range-12m.jpg" alt="RPLIDAR A1M8" width="300">
+
+- 360° Abdeckung & Reichweite von 0,15m bis 12m
+- Abtastrate bis zu 8000 Samples pro Sekunde mit einer einstellbaren Drehgeschwindigkeit zwischen 5 Hz und 10 Hz
+- Messdaten lassen sich auf dem Turtlebot mit RViz2 visualieren und mit SLAM in eine Karte übersetzen
+### OAK-D Pro
+*Stereo Tiefenkamera mit Nachtsicht*
+
+<img src="https://www.generationrobots.com/17875-product_cover/luxonis-oak-d-pro-w-kamera.jpg" alt="oakd" width="300">
+
+- [Seite des Herstellers](https://docs.luxonis.com/hardware/products/OAK-D%20Pro)
+- speziell für neuronale Netzwerke und Echtzeitanwendungen optimiert und eignet sich so für Computer-Vision-Anwendungen
+- hat einen Intel Movidius Myriad X VPU integriert, der neuronale Netze direkt auf der Kamera ausführen kann
+- Der Hersteller stellt mit [Depth AI](https://github.com/luxonis/depthai-python) eine Plattform zur KI-gestützten Computer Vision für die Kamera bereit
+
+### Create 3 Sensoren
+Der Create 3 ist die Basis der Turtlebot4-Roboterplattform und beinhaltet die Antriebseinheit sowie einige Sensoren. Die Sensoren lassen sich in ROS auslesen.
+
+<img src="https://cdn-reichelt.de/bilder/web/xxl_ws/C900%2FMBS-ROB-27-2.png?type=ProductXxl&" alt="Create 3" width="300">
+
+#### 1. Bumper-Sensoren
+
+- **Funktion**: Erfassen Kollisionen mit der Vorderseite des Roboters und melden potenzielle Hindernisse. Diese Sensoren ermöglichen es dem Roboter, Zusammenstöße zu erkennen und seine Bewegung entsprechend anzupassen.
+- **Beispielnutzung**: `ros2 topic echo /hazard_detection`
+- **Beispielausgabe:**
+```
+detections:
+- header:
+ stamp:
+ sec: 1672531200
+ nanosec: 500000000
+ frame_id: "base_link"
+ type: 1 # HAZARD_BUMP
+
+```
+- **Beschreibung der Ausgabe**: Der Roboter meldet einen Zusammenstoß mit einem Hindernis.
+
+#### 2. Cliff-Sensoren
+- **Funktion**: Erkennen Absturzkanten oder Abgründe, um zu verhindern, dass der Roboter von einer erhöhten Fläche, wie einem Tisch oder einer Treppe, herunterfällt.
+- **Beispielnutzung**: `ros2 topic echo /hazard_detection`
+- **Beispielausgabe:**
+```
+detections:
+- header:
+ stamp:
+ sec: 1672531201
+ nanosec: 200000000
+ frame_id: "base_link"
+ type: 2 # HAZARD_CLIFF
+
+```
+- **Beschreibung der Ausgabe**: Der Roboter meldet eine Absturzkante und kann entsprechend reagieren.
+
+#### 3. Odometrie
+- **Funktion**: Liefert Informationen über die Position und Bewegung des Roboters. Die Odometrie-Daten helfen bei der Verfolgung der gefahrenen Strecke und Orientierung, um Navigation und Lokalisierung zu ermöglichen.
+- **Beispielnutzung**: `ros2 topic echo /odom`
+- **Beispielausgabe**:
+```
+header:
+ stamp:
+ sec: 1672531202
+ nanosec: 300000000
+ frame_id: "odom"
+pose:
+ pose:
+ position:
+ x: 1.23
+ y: 0.45
+ z: 0.0
+ orientation:
+ x: 0.0
+ y: 0.0
+ z: 0.707
+ w: 0.707
+
+```
+- **Beschreibung der Ausgabe**: Der Roboter befindet sich an Position (1.23, 0.45) mit einer Orientierung von 45 Grad.
+
+#### 4. IMU (Inertial Measurement Unit)
+- **Funktion**: Misst die Orientierung, Winkelgeschwindigkeit und lineare Beschleunigung des Roboters. Diese Daten werden genutzt, um Bewegungen und Neigungen zu analysieren sowie Stabilität und Richtung zu überwachen.
+- **Beispielnutzung**: `ros2 topic echo /imu`
+- **Beispielausgabe**:
+```
+header:
+ stamp:
+ sec: 1672531203
+ nanosec: 400000000
+ frame_id: "imu_link"
+orientation:
+ x: 0.0
+ y: 0.0
+ z: 0.707
+ w: 0.707
+angular_velocity:
+ x: 0.0
+ y: 0.0
+ z: 0.1
+linear_acceleration:
+ x: 0.0
+ y: -9.8
+ z: 0.0
+
+```
+- **Beschreibung der Ausgabe**: Der Roboter ist stabil, mit einer minimalen Winkelgeschwindigkeit und normaler Gravitation.
+
+#### 5. Wand-Sensor
+- **Funktion**: Misst die Entfernung zu einer Wand oder einem Hindernis in der Nähe. Dies ermöglicht es dem Roboter, entlang von Wänden zu navigieren oder Abstände zu Hindernissen zu halten.
+- **Beispielnutzung**: `ros2 topic echo /proximity`
+- **Beispielausgabe**:
+```
+header:
+ stamp:
+ sec: 1672531204
+ nanosec: 500000000
+ frame_id: "proximity_sensor"
+range: 0.25
+```
+- **Beschreibung der Ausgabe**: Der Roboter erkennt eine Wand oder ein Hindernis in einer Entfernung von 25 cm.
+
+#### 6. Batteriestatus
+- **Funktion**: Ãœberwacht den aktuellen Ladezustand der Batterie sowie andere Parameter wie Spannung und Strom. Diese Informationen helfen, den Energieverbrauch zu analysieren und die Betriebszeit zu optimieren.
+- **Beispielnutzung**: `ros2 topic echo /battery_state`
+- **Beispielausgabe**:
+```
+header:
+ stamp:
+ sec: 1672531205
+ nanosec: 600000000
+ frame_id: "battery"
+voltage: 12.6
+current: -1.2
+percentage: 0.85
+```
+- **Beschreibung der Ausgabe**: Die Batterie hat eine Spannung von 12,6 V, eine negative Stromaufnahme (Entladung) von 1,2 A und ist zu 85 % geladen.
+
+# Auslagerung externer Sensoren mit dem Pico
+
+Um nicht die GPIO Pins des verbauten Pi belegen zu müssen bietet es sich an die externen Sensoren an einen Pico anzuschließen und diesen über USB mit dem Pi kommunizieren zu lassen.
+
+#### Beispiel: zwei Liniensensoren auslesen und anzeigen
+Mit [sensor_bridge_1.py](../Code/Pico(Micropython)/sensor_bridge_1.py) werden zwei Liniensensoren auf dem Pico ausgelesen und über die serielle USB Schnittstelle an den Pi weitergegeben. Damit dieser Code automatisch ausgeführt wird muss er allerdings als main.py auf dem Pico gespeichert werden. Mit [read_pico.py](../Code/RPi4(Python)/read_pico.py) lässt sich auf Seite des Pis das Signal dann auslesen.
+
+Dieses Prinzip der Auslagerung der Sensoren wird im nächsten Kapitel, der Navigation, wichtig sein.
diff --git a/Komponenten/README.md b/Komponenten/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..20760018b4eb6f4ab1018618da82a6a0ba731d41
--- /dev/null
+++ b/Komponenten/README.md
@@ -0,0 +1,12 @@
+
+##### Ãœbersicht zu den hier bereitgestellten CAD Datein
+
+<img src="/Bilder/komponenten.jpg" alt="Komponenten" width="800">
+
+##### Außerdem haben wir haben mit folgenden CAD Modellen aus dem Internet gearbeitet:
+- [*Tutlebot4*](https://github.com/turtlebot/turtlebot4-hardware/tree/master)
+- [*HC-SR04* Ultraschall Sensor](https://grabcad.com/library/hc-sr04-13)
+- [*HW-006-v1.3* Liniensensor](https://grabcad.com/library/reference-board-assembly-for-tcrt5000-infrarot-line-tracking-modul-hw-006-v1-3-1)
+- [*TCRT5000 Liniensensor*](https://grabcad.com/library/tcrt5000-2)
+- [*Raspberry Pi Pico*](https://grabcad.com/library/raspberry-pi-pico-r3-1)
+- [*HLK-LD2450* Radar Sensor](https://grabcad.com/library/radar-sensor-module-hlk-ld2450-human-presence-motion-1)
diff --git a/Komponenten/arm 2.ipt b/Komponenten/arm 2.ipt
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new file mode 100644
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diff --git a/Komponenten/arm.ipt b/Komponenten/arm.ipt
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diff --git a/Komponenten/arm.stp b/Komponenten/arm.stp
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index 0000000000000000000000000000000000000000..060ea0152811102171788684b3e2d53f691f2c47
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diff --git a/Komponenten/base.ipt b/Komponenten/base.ipt
new file mode 100644
index 0000000000000000000000000000000000000000..0fc24c100a38caf09e5e294b55b9731bb2cbe1b5
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diff --git a/Komponenten/base.stp b/Komponenten/base.stp
new file mode 100644
index 0000000000000000000000000000000000000000..8620e7f38da80c1606eaf06912def901632b905d
--- /dev/null
+++ b/Komponenten/base.stp
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+#1577=B_SPLINE_CURVE_WITH_KNOTS('',3,(#5009,#5010,#5011,#5012),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(-1.,-0.314417631318541),.UNSPECIFIED.);
+#1578=B_SPLINE_CURVE_WITH_KNOTS('',3,(#5014,#5015,#5016,#5017),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(-5.55111512312578E-16,0.0253965068716328),
+ .UNSPECIFIED.);
+#1579=B_SPLINE_CURVE_WITH_KNOTS('',3,(#5019,#5020,#5021,#5022),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.0253965068716328,0.0524068809145321),
+ .UNSPECIFIED.);
+#1580=B_SPLINE_CURVE_WITH_KNOTS('',3,(#5025,#5026,#5027,#5028),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(-2.26336806474523,-1.67097580212346),
+ .UNSPECIFIED.);
+#1581=B_SPLINE_CURVE_WITH_KNOTS('',3,(#5091,#5092,#5093,#5094),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(-1.,-0.30196909293401),.UNSPECIFIED.);
+#1582=B_SPLINE_CURVE_WITH_KNOTS('',3,(#5095,#5096,#5097,#5098,#5099,#5100,
+#5101,#5102,#5103,#5104,#5105,#5106,#5107,#5108,#5109),.UNSPECIFIED.,.F.,
+ .F.,(4,1,1,1,1,1,1,1,1,1,1,1,4),(-3.44169137633799E-15,0.0673485414173676,
+0.134697082834739,0.168371353543424,0.20204562425211,0.2244951380579,0.269394165669481,
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+0.404091248504223,0.471439789921594),.UNSPECIFIED.);
+#1583=B_SPLINE_CURVE_WITH_KNOTS('',3,(#5113,#5114,#5115,#5116),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(-3.14169216607747,-3.14165705771262),
+ .UNSPECIFIED.);
+#1584=B_SPLINE_CURVE_WITH_KNOTS('',3,(#5117,#5118,#5119,#5120,#5121,#5122,
+#5123,#5124,#5125,#5126,#5127,#5128,#5129,#5130,#5131,#5132,#5133,#5134,
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+#5327,#5328,#5329,#5330,#5331,#5332,#5333,#5334,#5335,#5336,#5337,#5338,
+#5339),.UNSPECIFIED.,.F.,.F.,(4,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,
+3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,
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+2.92532990479517,3.01088772029537,3.09515428329634,3.14149314110212),
+ .UNSPECIFIED.);
+#1585=B_SPLINE_CURVE_WITH_KNOTS('',3,(#5345,#5346,#5347,#5348,#5349,#5350,
+#5351,#5352),.UNSPECIFIED.,.F.,.F.,(4,2,2,4),(0.233364582493973,0.252070975881335,
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+#1586=B_SPLINE_CURVE_WITH_KNOTS('',3,(#5354,#5355,#5356,#5357,#5358,#5359,
+#5360,#5361),.UNSPECIFIED.,.F.,.F.,(4,2,2,4),(0.959001007727989,1.00383446356453,
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+#1587=B_SPLINE_CURVE_WITH_KNOTS('',3,(#5369,#5370,#5371,#5372,#5373,#5374,
+#5375,#5376),.UNSPECIFIED.,.F.,.F.,(4,2,2,4),(0.806609432472305,0.86219547985493,
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+#1588=B_SPLINE_CURVE_WITH_KNOTS('',3,(#5378,#5379,#5380,#5381,#5382,#5383,
+#5384,#5385),.UNSPECIFIED.,.F.,.F.,(4,2,2,4),(1.14781616475777,1.2111832253704,
+1.27835057712902,1.29705697051638),.UNSPECIFIED.);
+#1589=B_SPLINE_CURVE_WITH_KNOTS('',3,(#5556,#5557,#5558,#5559,#5560,#5561,
+#5562,#5563,#5564,#5565),.UNSPECIFIED.,.F.,.F.,(4,2,2,2,4),(1.31022345166491,
+1.32186868769577,1.41878032054159,1.51569195338741,1.5273371894183),
+ .UNSPECIFIED.);
+#1590=B_SPLINE_CURVE_WITH_KNOTS('',3,(#5575,#5576,#5577,#5578,#5579,#5580,
+#5581,#5582,#5583,#5584),.UNSPECIFIED.,.F.,.F.,(4,2,2,2,4),(1.31405348269246,
+1.3334096628534,1.43140994043558,1.52941021801777,1.5487663981787),
+ .UNSPECIFIED.);
+#1591=B_SPLINE_CURVE_WITH_KNOTS('',3,(#5590,#5591,#5592,#5593,#5594,#5595,
+#5596,#5597),.UNSPECIFIED.,.F.,.F.,(4,1,1,1,1,4),(-0.190826843895202,-0.166238944782744,
+-0.0831194723946981,-0.041559736200675,-0.0207798681036635,-6.65191408180362E-12),
+ .UNSPECIFIED.);
+#1592=B_SPLINE_CURVE_WITH_KNOTS('',3,(#5601,#5602,#5603,#5604,#5605,#5606,
+#5607,#5608,#5609),.UNSPECIFIED.,.F.,.F.,(4,1,1,1,1,1,4),(0.,0.0207747927006334,
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+0.209426592321188),.UNSPECIFIED.);
+#1593=B_SPLINE_CURVE_WITH_KNOTS('',3,(#5875,#5876,#5877,#5878,#5879,#5880,
+#5881,#5882,#5883,#5884,#5885,#5886,#5887,#5888,#5889,#5890,#5891,#5892,
+#5893,#5894),.UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,2,2,2,2,4),(0.0615659078800484,
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+0.307477109589776),.UNSPECIFIED.);
+#1594=B_SPLINE_CURVE_WITH_KNOTS('',3,(#5895,#5896,#5897,#5898,#5899,#5900,
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+#5913,#5914,#5915,#5916,#5917,#5918,#5919,#5920,#5921),.UNSPECIFIED.,.F.,
+ .F.,(4,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,4),(-0.581694195617736,
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+-0.0830991708025337,-0.0415495854012669,-0.0207747927006334,0.),
+ .UNSPECIFIED.);
+#1595=B_SPLINE_CURVE_WITH_KNOTS('',3,(#5922,#5923,#5924,#5925,#5926,#5927,
+#5928,#5929,#5930,#5931,#5932,#5933),.UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,4),
+(0.,0.0176858131613143,0.0446146758597362,0.0538008033290377,0.0575683015841299,
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+#1596=B_SPLINE_CURVE_WITH_KNOTS('',3,(#6046,#6047,#6048,#6049,#6050,#6051,
+#6052,#6053,#6054,#6055,#6056,#6057,#6058,#6059,#6060,#6061,#6062,#6063,
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+#6076,#6077,#6078,#6079,#6080,#6081,#6082),.UNSPECIFIED.,.F.,.F.,(4,3,3,
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+0.0700174201205289,0.0704038170847068),.UNSPECIFIED.);
+#1597=B_SPLINE_CURVE_WITH_KNOTS('',3,(#6084,#6085,#6086,#6087,#6088,#6089,
+#6090,#6091,#6092,#6093,#6094,#6095,#6096,#6097,#6098,#6099,#6100,#6101,
+#6102),.UNSPECIFIED.,.F.,.F.,(4,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,4),(6.65191408180362E-12,
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+0.561056438625964,0.57144637267447,0.576641339698722,0.581836306722975),
+ .UNSPECIFIED.);
+#1598=B_SPLINE_CURVE_WITH_KNOTS('',3,(#6103,#6104,#6105,#6106,#6107,#6108,
+#6109,#6110,#6111,#6112,#6113,#6114,#6115,#6116,#6117,#6118,#6119,#6120),
+ .UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,2,2,2,4),(0.,0.000205405907166171,0.0178844497631975,
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+0.224936312764897,0.303107994565216),.UNSPECIFIED.);
+#1599=B_SPLINE_CURVE_WITH_KNOTS('',3,(#6137,#6138,#6139,#6140),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(1.36626140532133,1.39911657146817),
+ .UNSPECIFIED.);
+#1600=B_SPLINE_CURVE_WITH_KNOTS('',3,(#6147,#6148,#6149,#6150,#6151,#6152),
+ .UNSPECIFIED.,.F.,.F.,(4,2,4),(-0.00112142612860145,0.,0.0342603512793566),
+ .UNSPECIFIED.);
+#1601=B_SPLINE_CURVE_WITH_KNOTS('',3,(#6264,#6265,#6266,#6267),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(-2.55265464418811,-2.54983890347792),
+ .UNSPECIFIED.);
+#1602=B_SPLINE_CURVE_WITH_KNOTS('',3,(#6268,#6269,#6270,#6271,#6272,#6273),
+ .UNSPECIFIED.,.F.,.F.,(4,1,1,4),(2.54983890347792,2.73023275458932,2.91062660570071,
+3.18121738236781),.UNSPECIFIED.);
+#1603=B_SPLINE_CURVE_WITH_KNOTS('',3,(#6436,#6437,#6438,#6439),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(-3.14165705771262,-3.14155287977001),
+ .UNSPECIFIED.);
+#1604=B_SPLINE_CURVE_WITH_KNOTS('',3,(#6440,#6441,#6442,#6443,#6444,#6445,
+#6446,#6447,#6448,#6449),.UNSPECIFIED.,.F.,.F.,(4,1,1,1,1,1,1,4),(-3.14149314110212,
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+1.34649636402616,2.24409426505181,3.14155287976858),.UNSPECIFIED.);
+#1605=B_SPLINE_CURVE_WITH_KNOTS('',3,(#6566,#6567,#6568,#6569,#6570,#6571,
+#6572,#6573,#6574,#6575,#6576),.UNSPECIFIED.,.F.,.F.,(4,1,1,1,1,1,1,1,4),
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+-0.217398028460956,0.680199872564699,0.904599347821113,1.57779777359035,
+2.22638910555705),.UNSPECIFIED.);
+#1606=B_SPLINE_CURVE_WITH_KNOTS('',3,(#6577,#6578,#6579,#6580),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(2.22638910555705,2.47539567461601),
+ .UNSPECIFIED.);
+#1607=B_SPLINE_CURVE_WITH_KNOTS('',3,(#6581,#6582,#6583,#6584),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(-2.47539567461601,-2.26336806474523),
+ .UNSPECIFIED.);
+#1608=B_SPLINE_CURVE_WITH_KNOTS('',3,(#6585,#6586,#6587,#6588,#6589,#6590,
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+0.217398028459878,1.1149959294858,2.01259383051172,2.91019173153765,3.80778963256358),
+ .UNSPECIFIED.);
+#1609=B_SPLINE_CURVE_WITH_KNOTS('',3,(#6690,#6691,#6692,#6693,#6694,#6695,
+#6696,#6697,#6698,#6699,#6700,#6701,#6702,#6703,#6704,#6705,#6706,#6707,
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diff --git a/Komponenten/deckel.ipt b/Komponenten/deckel.ipt
new file mode 100644
index 0000000000000000000000000000000000000000..e9dfa83d9d4bb590cdcc8f44c017e579395fc241
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diff --git a/Komponenten/deckel.stp b/Komponenten/deckel.stp
new file mode 100644
index 0000000000000000000000000000000000000000..20239a40262fb9c53f43e867bb6609a9a0cf61d2
--- /dev/null
+++ b/Komponenten/deckel.stp
@@ -0,0 +1,2849 @@
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diff --git a/Komponenten/spacer.ipt b/Komponenten/spacer.ipt
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diff --git a/Komponenten/spacer.stp b/Komponenten/spacer.stp
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--- /dev/null
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diff --git a/README.md b/README.md
index 1dfc050b3fc4db68e296d16de1c92f9d1b2babbd..5ac2f18780d8fddf433e9fe376ab5f55c29a412b 100644
--- a/README.md
+++ b/README.md
@@ -1,93 +1,32 @@
-# turtlebot4
+<img src="/Bilder/igmr.png" alt="IGMR" width="500">
+# Navigation mit dem Turtlebot 4
+*Eine Projektarbeit von Julian Kühne und Sebastian Matz betreut von Sophie Charlotte Keunecke am IGMR der RWTH*
+<img src="/Bilder/seitlich.jpg" alt="Turtlebot" width="800">
-## Getting started
+### Ziel der Projektarbeit
+Inbetriebnahme eines Turtlebot4 mit ROS2 Humble auf einem Ubuntu 22.04, Implementierung externer Sensoren und Ausführen eines Navigationsszenarios. Dieses Repository soll der Dokumentation unserer Arbeit dienen und sie für andere zugänglich machen.
-To make it easy for you to get started with GitLab, here's a list of recommended next steps.
+### Struktur der Dokumentation
+1. [Inbetriebnahme Turtlebot 4](Dokumentation/Inbetriebnahme_Turtlebot_4.md)
+2. [ROS Basics](Dokumentation/ROS2_Basics.md)
+3. [Sensoren](Dokumentation/Sensoren.md)
+4. [Navigation](Dokumentation/Navigation.md)
-Already a pro? Just edit this README.md and make it your own. Want to make it easy? [Use the template at the bottom](#editing-this-readme)!
+### Der Turtlebot 4
-## Add your files
-- [ ] [Create](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#create-a-file) or [upload](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#upload-a-file) files
-- [ ] [Add files using the command line](https://docs.gitlab.com/ee/gitlab-basics/add-file.html#add-a-file-using-the-command-line) or push an existing Git repository with the following command:
+<img src="https://turtlebot.github.io/turtlebot4-user-manual/overview/media/standard_render.png" alt="GPIO Belegung" width="500">
-```
-cd existing_repo
-git remote add origin https://git-ce.rwth-aachen.de/turtlebot_igmr/turtlebot4.git
-git branch -M main
-git push -uf origin main
-```
+*Turtlebot 4*
-## Integrate with your tools
+Ein **TurtleBot 4** ist ein robuster und vielseitiger mobiler Roboter, der speziell für Forschung, Lehre und Entwicklung im Bereich Robotik konzipiert wurde. Es handelt sich um eine der neuesten Versionen der TurtleBot-Serie, die auf dem ROS (Robot Operating System) basiert und für die Verwendung mit **ROS 2 Humble** optimiert ist. Der TurtleBot 4 ist auf einem **Raspberry Pi 4** aufgebaut und bietet eine Plattform für Experimente und Anwendungen in der Robotik.
-- [ ] [Set up project integrations](https://git-ce.rwth-aachen.de/turtlebot_igmr/turtlebot4/-/settings/integrations)
+### GPT zu dieser Projektarbeit
+ChatGPT ist sehr hilfreich bei der Arbeit mit dem Turtlebot. Wir haben ein GPT-Modell mit allen zu unserer Projektarbeit relevanten Daten trainiert und stellen das hier zur Verfügung: [Navigation mit dem Turtlebot 4](https://chatgpt.com/g/g-6768182420c0819180e9cc092e1ed888-navigation-mit-dem-turtlebot-4).
-## Collaborate with your team
-
-- [ ] [Invite team members and collaborators](https://docs.gitlab.com/ee/user/project/members/)
-- [ ] [Create a new merge request](https://docs.gitlab.com/ee/user/project/merge_requests/creating_merge_requests.html)
-- [ ] [Automatically close issues from merge requests](https://docs.gitlab.com/ee/user/project/issues/managing_issues.html#closing-issues-automatically)
-- [ ] [Enable merge request approvals](https://docs.gitlab.com/ee/user/project/merge_requests/approvals/)
-- [ ] [Set auto-merge](https://docs.gitlab.com/ee/user/project/merge_requests/merge_when_pipeline_succeeds.html)
-
-## Test and Deploy
-
-Use the built-in continuous integration in GitLab.
-
-- [ ] [Get started with GitLab CI/CD](https://docs.gitlab.com/ee/ci/quick_start/index.html)
-- [ ] [Analyze your code for known vulnerabilities with Static Application Security Testing (SAST)](https://docs.gitlab.com/ee/user/application_security/sast/)
-- [ ] [Deploy to Kubernetes, Amazon EC2, or Amazon ECS using Auto Deploy](https://docs.gitlab.com/ee/topics/autodevops/requirements.html)
-- [ ] [Use pull-based deployments for improved Kubernetes management](https://docs.gitlab.com/ee/user/clusters/agent/)
-- [ ] [Set up protected environments](https://docs.gitlab.com/ee/ci/environments/protected_environments.html)
-
-***
-
-# Editing this README
-
-When you're ready to make this README your own, just edit this file and use the handy template below (or feel free to structure it however you want - this is just a starting point!). Thanks to [makeareadme.com](https://www.makeareadme.com/) for this template.
-
-## Suggestions for a good README
-
-Every project is different, so consider which of these sections apply to yours. The sections used in the template are suggestions for most open source projects. Also keep in mind that while a README can be too long and detailed, too long is better than too short. If you think your README is too long, consider utilizing another form of documentation rather than cutting out information.
-
-## Name
-Choose a self-explaining name for your project.
-
-## Description
-Let people know what your project can do specifically. Provide context and add a link to any reference visitors might be unfamiliar with. A list of Features or a Background subsection can also be added here. If there are alternatives to your project, this is a good place to list differentiating factors.
-
-## Badges
-On some READMEs, you may see small images that convey metadata, such as whether or not all the tests are passing for the project. You can use Shields to add some to your README. Many services also have instructions for adding a badge.
-
-## Visuals
-Depending on what you are making, it can be a good idea to include screenshots or even a video (you'll frequently see GIFs rather than actual videos). Tools like ttygif can help, but check out Asciinema for a more sophisticated method.
-
-## Installation
-Within a particular ecosystem, there may be a common way of installing things, such as using Yarn, NuGet, or Homebrew. However, consider the possibility that whoever is reading your README is a novice and would like more guidance. Listing specific steps helps remove ambiguity and gets people to using your project as quickly as possible. If it only runs in a specific context like a particular programming language version or operating system or has dependencies that have to be installed manually, also add a Requirements subsection.
-
-## Usage
-Use examples liberally, and show the expected output if you can. It's helpful to have inline the smallest example of usage that you can demonstrate, while providing links to more sophisticated examples if they are too long to reasonably include in the README.
-
-## Support
-Tell people where they can go to for help. It can be any combination of an issue tracker, a chat room, an email address, etc.
-
-## Roadmap
-If you have ideas for releases in the future, it is a good idea to list them in the README.
-
-## Contributing
-State if you are open to contributions and what your requirements are for accepting them.
-
-For people who want to make changes to your project, it's helpful to have some documentation on how to get started. Perhaps there is a script that they should run or some environment variables that they need to set. Make these steps explicit. These instructions could also be useful to your future self.
-
-You can also document commands to lint the code or run tests. These steps help to ensure high code quality and reduce the likelihood that the changes inadvertently break something. Having instructions for running tests is especially helpful if it requires external setup, such as starting a Selenium server for testing in a browser.
-
-## Authors and acknowledgment
-Show your appreciation to those who have contributed to the project.
-
-## License
-For open source projects, say how it is licensed.
-
-## Project status
-If you have run out of energy or time for your project, put a note at the top of the README saying that development has slowed down or stopped completely. Someone may choose to fork your project or volunteer to step in as a maintainer or owner, allowing your project to keep going. You can also make an explicit request for maintainers.
+### Hilfreiche Links
+- [Offizielle Tutlebot 4 Dokumentation](https://turtlebot.github.io/turtlebot4-user-manual/)
+- [Offizielle Create 3 Dokumentation](https://iroboteducation.github.io/create3_docs/)
+- [Offizielle ROS2 Humble Dokumentation](https://docs.ros.org/en/humble/index.html)
\ No newline at end of file