/ENPM690_HW3

2 wheeled differential drive robot capable of exploration with Obstacle Avoidance module

Primary LanguageCMake

ENPM690_HW3

Overview

A simple walker algorithm, like roomba, implemented on a 2 wheeled differential-drive robot

Dependencies

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.

Building the package

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

Running the demo

Once the build is complete successfully, you can run the obstacle avoidance demo using roslaunch:

roslaunch walker walker.launch