Walker

This is the Week 12 exercise related to simulation of a simple walker algorithm for turtlebot in gazebo world.

Overview

The operation principle of the turtlebot walker is as follows. The turtlebot keeps moving in a forward direction until its laser scan identifies an obstacle in a threshold range. When the obstacle is detected it makes a turning manuevre at constant velocity to evade the obstacle. Once the obstacle is evaded, it proceeds to move again in the forward direction. This cycle repeats indefinitely.

License

This software is released under the MIT License. For details check License information

Assumptions

This project assumes the following:

• the user has ROS Version Kinetic Installed on an Ubuntu desktop/ laptop
• the user has CMake installed on the same desktop/ laptop
• the user has C++ 11 compatible GCC compiler installed on the same desktop/ laptop
• the user also has the tf library as part of their ROS distribution

If your computer does not already have a turtlebot stack installation, do the following. In a new terminal

sudo apt-get install ros-kinetic-turtlebot-gazebo ros-kinetic-turtlebot-apps ros-kinetic-turtlebot-rviz-launchers
source /opt/ros/kinetic/setup.bash

Standard install via command-line

Cloning the repository and integrating in your workspace

mkdir catkin_ws
cd catkin_ws
mkdir src
catkin_make
cd src
git clone https://github.com/arunumd/walker.git
cd..
catkin_make

Running the simulation WITHOUT bag file recording using the launch file

In a new terminal

cd ~/catkin_ws
source ./devel/setup.bash
roslaunch walker walker.launch

Running the simulation WITH bag file recording using the launch file

In a new terminal

cd ~/catkin_ws
source ./devel/setup.bash
roslaunch walker walker.launch rec:=1

After this step, you will find a bag file in /results folder

Playing the bag file

In a new terminal

roscore

In a new terminal

cd ~/catkin_ws
source ./devel/setup.bash
cd src/walker/results
rosbag play recording.bag