/MR_FinalProject

Repo for final project of mobile robotics

Primary LanguagePythonMIT LicenseMIT

MR_FinalProject

Repo for final project of mobile robotics

Simulation Launch

Instructions for setting up the environment:

Before launching the simulation, make sure to execute the following command in all terminals to set up the environment:

source devel/setup.bash

Install Packages:

$ pip install scikit-learn
$ pip install scipy
$ sudo apt-get install ros-noetic-turtlebot3-gazebo
$ sudo apt-get install ros-noetic-turtlebot3-slam
$ sudo apt-get install ros-noetic-gmapping
$ sudo apt-get install ros-noetic-turtlebot3-teleop

Set Environment Variable:

$ export TURTLEBOT3_MODEL=burger

Terminal 1:

$ roslaunch planner tb3_gazebo_slam.launch

Terminal 2:

$ rosrun planner dummy_frontier_server.py

Terminal 3:

$ rosrun planner global_planner.py

Terminal 4:

$ rosrun planner local_planner.py