1. Open Terminal sourcing the turtlebot2 and run the Gazebo simulation world 2. Open a new terminal and source the turtlebot2 3. Extract the image.py and locomotion.py on the working directory 4. check the terminal 2 working directory is same the launch file 5. run python code locomotion.py "python locomotion.py" 6. Gazebo Turtlebot will start navigating 7. Respective datalogs will get produced in the same directory under the file name datalogging 8. Obstacles photo will be taken and stored on the same working directory *** Note: This code is unmonitored and will not be updated ***