Welcome to a Project by StackOverflow Researchers In this project, we were challenged by a leading government organization with deploying a robot that will scan its surroundings for suspicious objects. To see our project in action, follow the steps below: Step 1 : In the sigularity terminal, Run: - wget https://lamp.ms.wits.ac.za/robotics/robot_assignment_ws.tar.gz --no-certificate; tar zxvf robot_assignment_ws.tar.gz - cd robot_assignment_ws - rm -r build - catkin_make Step 2: In the robot_assignment_ws workspace, Run: - catkin_create_pkg scripts_pkg std_msgs rospy (to create a scripts_pkg package) - cd ..; catkin_make - source devel/setup.bash - roscd scripts_pkg - mkdir scripts; cd scripts Step 3: - Unzip the project folder - Move the "Autonomous_Security_Bot.py" file to the scripts folder created in Step 2 - Move the "refined_map.pgm" file to robot_assignment_ws workspace In sigularity, while inside the scripts directory, run: - chmod +x *.py Step 4: In sigularity, while inside the robot_assignment_ws workspace, run: - source devel/setup.bash - ./startWorld In a new terminal, run: - source devel/setup.bash - rosrun scripts_pkg Autonomous_Security_Bot.py ***OUTPUT*** Enter Goal Destination - x: "input your x value" Enter Goal Destination - y: "input your y value" Finding motion path using PRM (this may take a while)... ***IMPORTANT*** If you are prompted with a "networkx not found" error message on terminal, try: - pip install networkx if you get a pip error, run: - wget https://bootstrap.pypa.io/pip/2.7/get-pip.py - python get-pip.py - pip install --upgrade setuptools - pip install networkx or pip install "networkx==2.2"