turtlebot3_walker

Introduction

This repository provides a simple for obstacle avoidance

File Structure

• include
  -- walker.hpp

• src
  -- walker.cpp
  -- walker_node.cpp

walker_node.cpp is where the object for the classes Walker is created.

Prerequisites

1. sudo apt-get install ros-melodic-urdf
2. sudo apt-get install ros-melodic-interactive-markers
3. sudo apt-get install ros-melodic-actionlib 4

Building the package

1. Create a catkin workspace catkin_ws

2. Clone the turlebot3 package inside catkin_ws/src using

git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git     
git clone https://github.com/ROBOTIS-GIT/turtlebot3.git       
git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

Refer link.

4. Clone the turtlebot3_walker package

git clone https://github.com/sakshikakde/turtlebot3_walker.git

4. Change the directory

cd catkin_ws

5. run

catkin build 

How to run the code

1. Change the directory

cd catkin_ws

2. Source the workspace

source devel/setup.bash

3. In a terminal, run

roscore

5. In a new terminal, run the talker by using

 roslaunch turtlebot3_walker turtlebot3_obstacle_avoidance.launch 

Parameters

• platform_name : default="turtlebot3"
• publisher_topic_name : default="/cmd_vel"
• subscriber_topic_name : default="/scan"
• publisher_rate : default = 20
• scan_range : default="10"
• distance_threshold : default="1"
• bags_directory : default="/home"
• record_bag : default="false"
• launch_gazebo : default="true"

Recording the bag file

Set the record_bag param true in the launch file. Set the bags_directory as well.

Running the bag file

1. Change the directory to the location where rosbag is recorded

2. Run the command

rosbag play <bagfile_name> --pause

3. Launch the file turtlebot3_obstacle_avoidance.launch with gazebo off

roslaunch turtlebot3_walker turtlebot3_obstacle_avoidance.launch launch_gazebo:=false

Bag file

https://drive.google.com/file/d/1rZaai8yFOqWnMEujxXBu6TGUDE9_OtfZ/view?usp=sharing