Diff-reactive-bot

Differential reactive robot for RI course.

Directory Structure

• lib: flatland2 directory
• src: reactive robot source code and flatland2 environment configuration
  • world: environment definition
  • rviz: rviz graphical interface configuration
  • launch: launch file
  • wall_following_diff_robot: differential drive robot code
• docs: paper
• results (empty): statistics generated from 'generate_stats.py' script

Dependencies

• ROS 2 Humble
  • Official installation guide
• Flatland2 - included as git submodule, follow instructions to clone repo

Installation

Clone Repository

$ git clone git@github.com:marhcouto/diff-reactive-bot.git
$ cd diff-reactive-bot/
$ git submodule update --init --recursive

Setup and build project

In the root directory:

$ rosdep install -i --from-path src --rosdistro humble -y
$ colcon build
$ source install/setup.bash

Launch Application

$ ros2 launch wall_following_diff_robot wall_following_diff_robot.launch.py

Authors

• Marcelo Couto
• José Costa
• Fernando Rego
• Bruno Mendes