turtlebot-walker

Walker Algorithm implementation for the Turtlebot 3 in Gazebo

Overview

This ROS package implements a walker algorithm (similar to a Roomba robot vacuum cleaner) for the Turtlebot 3 in Gazebo. The robot moves forward until it reaches an obstacle (but not colliding), then rotates in place until the way ahead is clear, then moves forward again and repeats.

Dependencies

The following dependencies are required to run this package:

1. ROS Melodic
2. catkin
3. Ubuntu 18.04

Standard install via command-line

cd ~/catkin_ws/src
git clone --recursive https://github.com/nalindas9/turtlebot_walker.git
cd ..
catkin_make

Running Simulation

Open the following terminals and run the following commands in them:

1. Terminal 1:

roscore

2. Terminal 2: Passing record=true for recording of bag file:

cd catkin_ws
source devel/setup.bash
roslaunch turtlebot_walker turtlebot_walker.launch 

Inspecting rosbag file

1. Terminal 1:

cd catkin_ws
source devel/setup.bash
cd src/turtlebot_walker/results/
rosbag info turtlebot_walker.bag

Playing the rosbag file

1. Terminal 1 (run master node):

roscore

2. Terminal 2 (play rosbag):

cd catkin_ws
source devel/setup.bash
rosbag play src/turtlebot_walker/results/turtlebot_walker.bag