Obstacle-Avoidance

Prerequisites

• ROS
• Gazebo

File Structure

├── Launch                            # Launch files of the robot and some of the worlds
    ├── spawn.launch         
    ├── world1.launch            
    ├── world2.launch         
    ├── world3.launch
    ├── world4.launch
├── scripts                           # The obstacle avoidance algorithm
    ├── start.py                
├── urdf                              # The file which contains the details about the robot and the sensor
    ├── m2wr.xacro 
├── worlds                            # The world files which contain information about different worlds 
    ├── assignment_world.world        
    ├── turtlebot3_stage_1.world            
    ├── turtlebot3_stage_2.world          
    ├── turtlebot3_stage_3.world
    ├── turtlebot3_stage_4.world
    ├── turtlebot3_world.world
    ├── world01.world          
    ├── world02.world
    ├── world03.world
    ├── world04.world
├── CMakeLists.txt
├── LICENSE
├── README.md
├── package.xml

Steps to get started

Clone this repository in your src.
Run catkin_make .
Run the command roslaunch obstacle_avoidance spawn.launch to launch gazebo, the bot and your world.
You can change the world by changing the name of the world file name in the spawn.launch file.
You can also change the position where the bot will spawn in the spawn.launch file.
Now open a second terminal and run the following command
chmod +x ~/catkin_ws/src/obstacle_avoidance/scripts/start.py or go into your scripts folder and then run the command
chmod +x start.py .
Run the following command rosrun obstacle_avoidance start.py to start your obstacle avoidance algorithm.