turtlebot_walker

Overview

The package turtlebot_walker contains a class Walker to drive the turtlebot forward and turn the robot when the turtlebot scans an obstacle in the clearance area.

Dependencies

Ubuntu 16.04 LTS
ros-kinetic-desktop-full
Gazebo turtlebot packages

Build Steps

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

Before Running

Assume ros-kinetic-desktop-full is already installed on Ubuntu 16.04 LTS.

sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control
sudo apt-get install ros-kinetic-turtlebot-gazebo 
sudo apt-get install ros-kinetic-turtlebot-apps ros-kinetic-turtlebot-rviz-launchers

Run the Launch File

Run the launch file without ROS bag record:

roslaunch turtlebot_walker turtlebot_walk.launch

Run the launch file without ROS bag record:

roslaunch turtlebot_walker turtlebot_walk.launch rosbagRecord:=true

Gazebo should start automatically and the turtlebot will run as project described. The ROS bag will be saved in the results folder.

ROS Bag Playback

In terminal 1:

roscore

In terminal 2:

rosbag play turtlebotRecord.bag

In terminal 3:

rostopic echo /mobile_base/commands/velocity