nilutpolkashyap/bug_robot

Bug 0, 1, 2 Algorithms

BUG Robot

Bug 0, 1, 2 Algorithms

 

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Details About Project

Software Used

• Fusion360 -> For designing the 3D Model of the robot.
• fusion2urdf -> Fusion360 script to export urdf from fusion 360 directly.
• ROS - Noetic
• Gazebo
• Rviz

Robot Drive Plugin Used - Differential Drive - Gazebo

Fusion360 Model

Clone this repository inside your ROS Workspace:

cd ~/catkin_ws/src/
git clone https://github.com/nilutpolkashyap/bug_robot.git
cd ~/catkin_ws/
catkin_make
source devel/setup.bash

Launch the simulation and visualization

Type the command in a terminal to launch the Bug Robot world simulation:

roslaunch bug_robot_description bug_world.launch

Run Bug 0 Algorithm

Type the command in a terminal to launch the Bug Robot world simulation:

roslaunch bug_robot_description bug_world.launch

Type the command in another terminal to launch Wall Following and Go-to-point nodes:

roslaunch bug_robot_algorithms bug0_pre.launch

Type the command in another terminal to run the Bug 0 algorithm:

rosrun bug_robot_algorithms bug0_algorithm.py

Run Bug 1 Algorithm

Type the command in a terminal to launch the Bug Robot world simulation:

roslaunch bug_robot_description bug_world.launch

Type the command in another terminal to launch Wall Following and Go-to-point nodes:

roslaunch bug_robot_algorithms bug1_pre.launch

Type the command in another terminal to run the Bug 1 algorithm:

rosrun bug_robot_algorithms bug1_algorithm.py

Run Bug 2 Algorithm

Type the command in a terminal to launch the Bug Robot world simulation:

roslaunch bug_robot_description bug_world.launch

Type the command in another terminal to launch Wall Following and Go-to-point nodes:

roslaunch bug_robot_algorithms bug2_pre.launch

Type the command in another terminal to run the Bug algorithm:

rosrun bug_robot_algorithms bug2_algorithm.py