A simple walker algorithm, like roomba, implemented on a 2 wheeled differential-drive robot
The following dependencies are required to run this package:
- ROS kinetic
- catkin
- Ubuntu 16.04
- Turtlebot packages for sensor msgs For installing ROS, follow the process given here
For installing catkin, follow the process given here
For installing turtlebot packages, in a new terminal enter the following command:
sudo apt-get install ros-kinetic-turtlebot-*
This will install the turtlebot packages.
Note: catkin is usually installed by default when ROS is installed.
To build this package follow the steps below:
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone --recursive https://github.com/abhi1625/ENPM690_HW3.git
cd ..
catkin_make
source devel/setup.bash
Once the build is complete successfully, you can run the obstacle avoidance demo using roslaunch:
roslaunch walker walker.launch