For multiple Turtlebot3 Navigation + ORCA algorithm for local pathing
Requirement
- Ubuntu 16.04
- ROS Kinetic Kame
- Pre-installed catkin_Ws
note: please install the following item before proceding
About this project
This repository is dedicated for the developement of Robotic Navigation, via turtlebot as the model. For the navigation stack, Global pathing used A* algorithm and the Local pathing used ORCA.
Installation
Just do the "catkin_make" in your catkin_ws/src file.
cd catkin_ws/src
git clone https://github.com/syahmi001/turtlebot3_shm.git
cd ..
catkin_make
Running the code
Follow these commands.
- new terminal
roscore
- new terminal
export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_gazebo turtlebot3_world_multi.launch
- new terminal
export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_navigation turtlebot3_navigation_multi.launch
Outcome
Disclaimer
- Some of the codes in here are not owned by me. They belongs to the respected people.
- This project is still under improvement and debugging. The release version will be released soon.