/P3DX-Depth-DWB

Primary LanguageC++

Usage Instructions

Start up the ROS Master Node

roscore

Setup connection with the robot

sudo chmod +777 /dev/ttyUSB0

rosrun rosaria RosAria

Setting up the Camera

roslaunch realsense2_camera rs_camera.launch align_depth:=true

To get pointclouds from the RGBD images:

roslaunch realsense2_camera rs_camera.launch align_depth:=true enable_pointcloud:=true

Setup the conversion of RGBD images to Laser Scans

roslaunch depthimage_to_laserscan launchfile_sample.launch

Setup the navigation node

roslaunch turtlebot3_navigation turtlebot3_navigation.launch

Setting up Parser Based Navigation

rosrun turtlebot3_navigation talker

rosrun turtlebot3_navigation Voice_NLP