TurtleBot Walker
A ROS 2 package developed for turtlebot to depict walker behavior. The robot will explore it's enviroment and avoid any obstacle. In case the robot at in a distance to an obstacle which is less than a threshold, it will rotate until path ahead of it is clear.
Dependencies
- Ubuntu 20.04
- ROS 2 Foxy
- Turtlebot3 package for ROS 2
- Gazebo
Build instructions
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
Clone the repository
git clone https://github.com/divyansh2681/ros2_turtlebot3_walker.git
Build the workspace
cd ~/ros2_ws
colcon build --packages-select turtlebot_walker
Set turtlebot3 variable for model
echo "export TURTLEBOT3_MODEL=waffle_pi" >> ~/.bashrc
Run Instructions
Using ROS Bag record
. install/setup.bash
ros2 launch turtlbot_walker launch_walker.launch.py record:=True
Inspect the ROS bag with following command
ros2 bag info <path_to_rosbag_record_file>
To play with ROS bag, close gazebo and exit the launch file. Open a new terminal
cd ~/ros2_ws
. install/setup.bash
ros2 run turtlebot3_gazebo turtlebot3_world.launch.py
Open another new terminal
cd ~/ros2_ws
. install/setup.bash
ros2 bag play <path_to_rosbag_record_file>
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