intersection_simulations

Simulates a gazebo intersection using turtlebot3.

Install ros and create a ros catkin workspace:

Tutorial can be found at http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment

Install turtlebot3 model (In depth tutorials can be found at:)

https://emanual.robotis.com/docs/en/platform/turtlebot3/setup/#setup https://emanual.robotis.com/docs/en/platform/turtlebot3/simulation/#ros-1-simulation

First install the turtlebot3 dependencies

sudo apt-get install ros-kinetic-joy ros-kinetic-teleop-twist-joy ros-kinetic-teleop-twist-keyboard ros-kinetic-laser-proc ros-kinetic-rgbd-launch ros-kinetic-depthimage-to-laserscan ros-kinetic-rosserial-arduino ros-kinetic-rosserial-python ros-kinetic-rosserial-server ros-kinetic-rosserial-client ros-kinetic-rosserial-msgs ros-kinetic-amcl ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-compressed-image-transport ros-kinetic-rqt-image-view ros-kinetic-gmapping ros-kinetic-navigation ros-kinetic-interactive-markers

Clone turtlebot3 and the turtlebot3 simulations into the workspace

 cd ~/(your workspace)/src/
 git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
 git clone -b kinetic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
 git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
 cd ~/(your workspace) 
 catkin_make

Clone catkin package for intersection simulation

Clone and run catkin make

 cd ~/(your workspace)/src/
 git clone https://github.com/nicoloporcu/intersection_simulations.git
 cd ~/(your workspace) 
 catkin_make

Launching a turtlebot in a world

Export the turtlebot model (burger, waffle, or waffle pi) that you want to use.

  export TURTLEBOT3_MODEL=burger

To make your choice permanent, add this line to your ~/.bashrc

Then launch the turtlebot model in a world. For example, to run a turtlebot on a stop intersection:

  roslaunch intersection_simulation intersection.launch

To launch three turtlebots in a stop intersection, run:

  roslaunch intersection_simulation intersection3turtlebot.launch